激光雷达转镜扫描直流电机精确调速控制研究  

Research on Precise Speed Control of the DC Motor of Lidar Rotating Mirror Scanning

作　　者：张旭 李子扬[1] 李伟[1] 李传荣[1] ZHANG Xu;LI Zi -yang;LI wei;LI Chuan- rong(Academy of Opto - Electronics, Chinese Academy of Sciences, Beijing 100094, China;University of Chinese Academy of Sciences, Beijing 100049, China)

机构地区：[1]中国科学院光电研究院,北京100094 [2]中国科学院大学,北京100049

出　　处：《计算机仿真》2018年第4期11-17,共7页Computer Simulation

基　　金：无人机载激光雷达技术与辐射传输机理(2015DFA70930)

摘　　要：针对激光雷达转镜扫描系统对电机调速要求精度高的问题,提出了一种直流电机的模糊PID双闭环调速方法。针对常规调速方法参数整定不良的问题,在双闭环直流调速系统的基础上,结合经典PID控制及现代模糊控制理论的优良特性,采用模糊PID双闭环直流调速方法使系统参数能够自整定,并对其调速系统仿真分析。仿真结果表明,在快速响应性和抗干扰性能方面,模糊PID双闭环直流调速系统比双闭环直流调速系统有着明显的提高和优势,而且对非线性时变信号有着良好的控制效果,满足激光雷达转镜扫描系统的电机精确调速需求。Aiming at the problem of the high precision of the LIDAR rotating mirror scanning system, the article proposes a fuzzy PID double closed - loop speed regulation method of DC motor. Aiming at the problem that the pa- rameters of the conventional speed regulation method can not be self adapted, based on double closed - loop DC mo- tor speed control system and combined with the advantages of classical PID control and modern fuzzy control theory, we used the fuzzy PID brushless DC Motor double closed - loop speed control method to self - tuning the parameters, and that the system was simulated and analyzed. The simulation results show that the fuzzy PID brushless DC Motor double closed - loop speed control system has obvious improvement and superiority to the double closed - loop DC speed regulation system in the fast response performance and anti -jamming performance. The fuzzy PID brushless DC Motor double closed - loop speed control system has a good control effect on the nonlinear time - varying objects, and meets the precise speed regulation of motor of LIDAR Scanning System.

关 键 词：转镜扫描 直流电机调速 模糊控制 双闭环 仿真 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]