CAJ | 학술논문

在分析六自由度电动转台控制系统工作原理的基础上,针对驱动电动台的永磁同步电机采用传统PID控制电动台速度时,会产生周期性的速度偏差,致使其控制精度大大降低这一问题,通过对永磁同步电机的转速环进行数学建模,提出利用重复控制理论来设计电动台的速度补偿系统的思想,然后对传统PID和重复控制补偿系统2种控制器进行了设计与仿真.仿真结果表明,经过几个周期后,具有重复补偿的控制系统的跟踪误差逐渐减小,而传统的PID控制器则一直保持较大的跟踪误差.在Matlab/Simulink xPC Target实时开发环境下建立电动台速度实时控制系统,采用快速原型控制方式具有系统组建方便、成本低、开发周期短等特点.试验表明重复控制补偿系统对转台的速度控制具有很大的改进,从而为电动台的精确控制奠定了基础.
재분석륙자유도전동전태공제계통공작원리적기출상,침대구동전동태적영자동보전궤채용전통PID공제전동태속도시,회산생주기성적속도편차,치사기공제정도대대강저저일문제,통과대영자동보전궤적전속배진행수학건모,제출이용중복공제이론래설계전동태적속도보상계통적사상,연후대전통PID화중복공제보상계통2충공제기진행료설계여방진.방진결과표명,경과궤개주기후,구유중복보상적공제계통적근종오차축점감소,이전통적PID공제기칙일직보지교대적근종오차.재Matlab/Simulink xPC Target실시개발배경하건립전동태속도실시공제계통,채용쾌속원형공제방식구유계통조건방편、성본저、개발주기단등특점.시험표명중복공제보상계통대전태적속도공제구유흔대적개진,종이위전동태적정학공제전정료기출.
To the problem that the tradition PID control applied to six-DOF electric-driven turntable control system may for permanent magnet synchronous motor (PMSM) may cause great steady-state tracking error, using repetitive control compensation,the design of the speed compensation system of the turntable is proposed by building a mathematical model on the speed loop of PMSM. The traditional PID control and the repetitive control compensation are designed and simulated,respectively. The simulation results show that the repetitive control compensation is better than the traditional PID on tracking error. The real-time speed control system is designed on the basis of xPC Target environment of Matlab/Simulink. Experiment results show that the control system has a good prospect of application and can provide a more precision control for six-DOF electric-driven turntable.