小型直流电机建模及其模糊PID控制研究  

Research on modeling and fuzzy PID control of small DC motor

作　　者：张一夫 孙丽君 田乐乐 王通 冯明兴 张建松 ZHANG Yifu;SUN Lijun;TIAN Lele;WANG Tong;FENG Mingxing;ZHANG Jiansong(School of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China;Key Laboratory of Food Information Processing and Control,Ministry of Education,Henan University of Technology,Zhengzhou 450001,China;Education Technology Equipment Management Center of Henan Province,Zhengzhou 450004,China)

机构地区：[1]河南工业大学电气工程学院,河南郑州450001 [2]河南工业大学粮食信息处理与控制教育部重点实验室,河南郑州450001 [3]河南省教育技术装备管理中心,河南郑州450004

出　　处：《电子设计工程》2020年第22期113-117,共5页Electronic Design Engineering

摘　　要：为解决未知传递函数小型直流电机分析控制较为困难的问题,针对参数不易获得的情况提出了一种建模方法,设计了一种基于模糊PID自整定的控制系统。推导出直流电机的通用传递函数与零状态阶跃响应表达式,使用Matlab根据实测其零状态阶跃响应数据拟合出参数,并得到基本PID控制参数。为了优化控制效果,根据专家经验设计模糊控制器对参数进行整定,仿真结果对比发现调节时间、超调量均优于PID,并且具有一定的抗干扰性。最后搭建硬件平台根据其实际控制效果验证了建模和控制的有效性。In order to solve the problem that the small DC motor analysis and control of the unknown transfer function is difficult,a modeling method is proposed for the case that the parameter is not easy to obtain,and a control system based on fuzzy PID self⁃tuning is designed.The general transfer function of the DC motor and the zero⁃state step response expression are derived.Using Matlab,the parameters are fitted according to the measured zero⁃state step response data,and the basic PID control parameters are obtained.In order to optimize the control effect,the fuzzy controller is designed according to the expert experience to adjust the parameters.The simulation results show that the timing and overshoot are better than PID and have certain anti⁃interference.Finally,the hardware platform is built to verify the effectiveness of modeling and control based on its actual control effect.

关 键 词：小型直流电机 建模 控制 模糊PID 仿真 MATLAB 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]