天线转台运动的分数阶PID控制算法  

Fractional order PID control algorithm for antenna turntable motion

作　　者：张华成 邹衡 崔更申 ZHANG Huacheng;ZOU Heng;CUI Gengshen(School of Computer and Information Security,Guilin University of Electronic Technology,Guilin 541004,China)

机构地区：[1]桂林电子科技大学计算机与信息安全学院,广西桂林541004

出　　处：《桂林电子科技大学学报》2020年第1期27-32,共6页Journal of Guilin University of Electronic Technology

基　　金：技术创新引导专项(AC163806122)。

摘　　要：针对天线转台运动控制系统中的步进电机步距角存在的转动精度及响应速度问题,在常规PID控制的基础上提出了一种分数阶PID控制算法。该算法通过建立天线转台步进电机的数学模型,利用数学模型得到系统的传递函数,根据参数整定规则得出分数阶PID的5个控制参数,对分数阶PID控制器进行设计,最后在Matlab中搭建位置系统仿真框图。仿真结果表明,分数阶PID控制相比于常规PID控制的无误差跟踪精度提高了6.865 s,该算法提高了天线转台运动的灵活性与控制精度。Aiming at the rotation precision and response speed of the stepping motor step angle in the antenna rotary motion control system, a fractional-order PID control algorithm is proposed based on the conventional PID control. Firstly, the mathematical model of the stepping motor of the antenna turret is established. The mathematical model is used to obtain the transfer function of the system. Then, five control parameters of the fractional PID are set according to the tuning rules, and the fractional-order PID controller is designed. Finally, the position is set in MATLAB. System simulation block diagram. The simulation results show that the error-free tracking accuracy of the fractional-order PID control is 6.865 s compared with the conventional PID control. Therefore, the algorithm can improve the flexibility and control accuracy of the antenna turret movement.

关 键 词：天线转台 步进电机 常规PID 分数阶PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]