摘要
针对传统舵机控制系统中存在负载扰动大、控制过程复杂等问题,文中基于机电控制系统开展舵机自动控制一体化设计研究。首先,对舵机舵偏角控制工作原理进行分析,对各个核心部件进行数学建模,通过级联仿真分析各参数对舵机舵偏角控制的影响;然后,对传统PID控制器进行改进,将专家对系统的思想融入至PID控制器设计中,以适应因不确定因素引起的角度跟踪控制需求;最后,使用S7⁃200 SMART系列ST40作为控制系统的CPU,采用MAST语言编写控制程序,通过原理样机的搭建对上述方案进行验证。数据测试结果表明,与传统开环控制器相比,专家PID控制器可有效缩小角度波动范围,增强舵机舵偏角控制鲁棒性和动态稳定性。
In allusion to the problems of large load disturbance and complicated control process in the traditional steering gear control system,the design of the steering gear automatic control integration based on the electromechanical control system is researched.The working principle of the rudder deflection angle control of the steering gear is analyzed,the mathematically modeling for each core component is conducted,and the influence of various parameters on the rudder deflection angle control of steering gear is analyzed by means of the cascade simulation.The traditional PID controller is improved,and the idea of expert system is integrated into the PID controller design to adapt to the angle tracking control demand caused by uncertain factors.The ST40 in S7⁃200 SMART series is used as the CPU of the control system,and the control program written in MAST language is adopted.The above scheme has been verified by means of the principle prototype.The data testing results show that,in comparison with the traditional open⁃loop controller,the expert PID controller can effectively reduce the range of angle fluctuations and enhance the robustness and dynamic stability of the rudder deflection angle control of the steering gear.
作者
杜彬
DU Bin(Lanzhou Jiaotong University,Lanzhou 730070,China;China Railway 19th Bureau Group Corporation Electrical Engineering Co.,Ltd.,Beijing 102600,China)
出处
《现代电子技术》
2021年第6期121-124,共4页
Modern Electronics Technique
基金
北京市自然科学基金项目(11124030)。
关键词
舵机自动控制
一体化设计
机电控制系统
数学建模
PID控制器
数据测试
steering gear automatic control
integrated design
electromechanical control system
mathematical modeling
PID controller
data testing
