无人船电动舵机控制系统研究  

Research on Electric Servo Control System of Unmanned Boat

作　　者：高志远 晏芙蓉 王晨曦 GAO Zhiyuan;YAN Furong;WANG Chenxi(Institute of Intelligent Manufacturing,Guangdong Technology College,Zhaoqing 526100,China;Institute of Intelligent Manufacturing,Wuhan Guanggu Vocational College,Wuhan 430077,China)

机构地区：[1]广东理工学院智能制造学院,广东肇庆526100 [2]武汉光谷职业学院智能制造学院,湖北武汉430077

出　　处：《机械》2024年第12期67-72,共6页Machinery

基　　金：2022年广东省普通高校青年创新人才类项目(2022KQNCX128);高等教育教学改革项目(2022-1006)。

摘　　要：针对无人船现有电动伺服系统存在动态响应速度慢、控制精度差、可靠性差等缺点,利用位置环、速度环和电流环的控制器的特点,提出一种以位置闭环反馈控制为基础的无人船电动舵机控制系统,并在此基础上添加了速度环和电流环,进一步优化舵机控制算法。该系统实现了系统初始化、闭环控制算法、产生PWM信号、串口通讯收发等多种功能,从硬件和软件两方面构建成舵机控制系统。试验结果表明,所提出的位置环闭环反馈控制系统能够满足无人船电动舵机在稳定性、响应速度、控制精度上的指标要求,所添加的速度环和电流环的控制器,使舵机控制系统在动态响应和跟踪性能方面都有不同程度的提升,这对于拓宽电动舵机在无人船领域的应用范围具有一定的参考价值。In order to solve the problems of slow dynamic response speed,insufficient control accuracy and low reliability of existing electric servo system of unmanned ship,an unmanned boat electric servo control system based on position closed-loop feedback control is proposed considering the characteristics of the position loop,speed loop and current loop controllers,and speed loop and current loop are added to further optimize the servo control algorithm.The system realizes various functions such as system initialization,closed-loop control algorithm,PWM signal generation,serial communication,etc.It is constructed into a servo control system from both hardware and software aspects.The test results show that the proposed position loop closed-loop feedback control system meets the requirements of the unmanned ship electric servo in terms of stability,response speed,control accuracy,and the controllers of the added speed loop and current loop enhance the dynamic response and tracking performance of the servo control system,which provides a valuable reference for expanding the application range of the electric servo in the field of the unmanned ship.

关 键 词：无人船 电动舵机 控制系统 动态响应 稳态精度 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]