3D刚体摆位置伺服系统PID控制研究  

Research on Position Servo PID Control for the 3D Rigid Pendulum

作　　者：刁兆江 厉虹[1] 李金[1] 

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《电气工程学报》2016年第10期37-43,共7页Journal of Electrical Engineering

摘　　要：3D刚体摆是研究复杂刚体动力学与控制问题的典型位置伺服系统。永磁同步电机驱动执行机构产生控制力矩,使3D刚体摆在运动过程中的姿态误差减小,稳定在指定姿态位置。本文基于Matlab构造了3D刚体摆数学模型,以3D刚体摆实验平台为依托,利用PID策略对永磁同步电机的输出转矩和3D刚体摆的姿态进行控制,得到3D刚体摆姿态控制曲线。实验结果表明,系统的动态性能指标符合要求,PID控制对3D刚体摆复杂系统的控制是有效的。3D rigid pendulum is a typical system used to study complex dynamics and control system. Driving the permanent magnet synchronous motor （PMSM） of 3D rigid pendulum generate control torque, reducing posture error and reaching posture stable at the specified position. In this paper, the mathematical model of the 3D rigid pendulum is constructed by Matlab. Based on 3D rigid pendulum experiment platform, the PID strategy is used for the output torque of PMSM and the posture of 3D rigid pendulum is got. The results of simulation show that the PID control strategy can not only meet the dynamic characteristics of system, but the effectiveness of the control strategy for 3D rigid pendulum is verfied.

关 键 词：3D刚体摆 PID控制 位置伺服系统 永磁同步电机 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]