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伺服系统的辨识与非线性PID控制
发表时间：2010-02-28 浏览量：1762 下载量：548
| 全部作者： | 毛玉良，詹鹏 |
| 作者单位： | 东南大学机械工程学院 |
| 摘 要： | 采用实验的方法获得伺服系统的阶跃响应数据，用获得的实验数据采用参数辨识的方法建立伺服系统数学模型，通过模型验证表明，辨识得到的模型和实际模型能很好地吻合。该方法使伺服系统的建模更加简便并更加接近真实的系统模型。在对伺服系统进行控制时，发现常规比例积分微分（proportion integration differentiation，PID）控制器在控制中的不足。介绍了一种非线性PID控制器，并将这2种PID控制器分别对伺服系统进行相应控制。最后，通过Matlab仿真结果表明：非线性PID控制器能获得较快的响应和较小的超调量，并具有一定自适应性，同时也说明所设计的非线性PID控制器性能要明显优于常规PID控制器。 |
| 关 键 词： | 机械制造自动化；非线性比例积分微分控制器；系统辨识；伺服系统 |
| Title： | Identification of servo system and nonlinear PID controller |
| Author： | MAO Yuliang, ZHAN Peng |
| Organization： | School of Mechanical Engineering, Southeast University |
| Abstract： | In this paper, the servo system step response data are obtained based on experimental method, and a mathematical model of the servo system is established with the experimental data obtained by the method of parameter identification. The model test shows that the model matches up to the practical model. This method makes the servo system modeling more convenient and closer to reality system model. Having found conventional PID controller fault in the control of servo system, this paper introduces a kind of nonlinear PID controller, and the two PID controllers are respectively used to control servo system. Finally, the Matlab simulation results show that nonlinear PID controller can get fast response and small overshoot, and has a certain self�adaptation. This also demonstrates that the designed nonlinear PID is superior to conventional PID controller. |
| Key words： | mechanical manufacture and automation; nonlinear proportion integration differentiation controller; system identification; servo system |
| 发表期数： | 2010年2月第4期 |
| 引用格式： | 毛玉良，詹鹏. 伺服系统的辨识与非线性PID控制[J]. 中国科技论文在线精品论文，2010，3（4）：389-395. |
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