文章摘要
引用本文:张春熹,张娟秀,杨功流.基于状态观测器的IMU旋转控制算法研究[J].导航与控制,2010,(3):10-13 本文二维码信息
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基于状态观测器的IMU旋转控制算法研究
IMU Rotation Control Algorithms Based on State Observer
  
DOI:
中文关键词:  IMU  无刷直流电机  旋转控制  模糊自整定PID  状态观测器
English Keywords:IMU  brushless dc motor  rotation control  fuzzy adjusting PID  state observer
基金项目:
作者单位
张春熹 北京航空航天大学仪器科学与光电工程学院 
张娟秀 北京航空航天大学仪器科学与光电工程学院 
杨功流 北京航空航天大学仪器科学与光电工程学院 
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中文摘要:
      本文研究了光纤陀螺罗经系统的精密转位控制技术。通过对无刷直流电机传递函数模型的推导,提出了电流环、速度环和位置环三闭环控制的精密旋转控制方案,采用模糊自整定PID参数的控制算法。利用状态观测器实时估计电机的速度信息,无需速度传感器,不仅节约成本,而且减小了系统体积。应用MATLAB/Simulink搭建了模糊自整定PID控制器和状态观测器的仿真模型,仿真结果表明,该旋转控制系统的稳态误差为5″,响应速度快,没有超调和震荡。
English Summary:
      An accurate rotation control technology of IMU is studied. An extract rotation-controlling project is advanced by deducing the Deliver function model of brushless dc motor. The project consists of current ring, speed ring and angle ring from inside to outside. An algorithm of fuzzy adjusting the PID parameters is adopted. The speed of motor is estimated in real time with state observer, not speed sensor. Not only the cost is saved, but also the volume is minished. The model of fuzzy adjusting the PID parameters controller and state observer is established with MATLAB/Simulink. The simulation results state that the stability error of the rotation controlling system is 5″, and take on rapid response, nice dynamic performance without surge and overshoot.
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