摘要
舵系统作为无人机和陆地导弹飞行控制的关键环节,具有高精度的舵机控制性能尤为重要。在不同工作要求下,直流电机需要实现相匹配的控制状态,然而单一的参数配置无法满足工况的变化,因此,本论文设计了一种高精度的参数自整定方法,针对冲击电流、高速性、动态性能等优化了配置项,运用模糊PID算法重新划分区间范围,制定适配规则库,在每个时刻动态获得参数最优选择。通过仿真验证得到,超调量抑制了7%,调节时间加快0.91 s,静态误差减小0.14°。最后,通过实验验证了设计与仿真的准确性。
Rudder system is the key link of flight control of the UAV and the land missile.It is particularly important to have high-precision rudder control performance.Under different working requirements,DC motors need to achieve matching control states,but a single parameter configuration cannot meet the change of working conditions.Therefore,this paper designs a high-precision parameter self-setting method,and optimizes the configuration items for impulse current,high speed,dynamic performance,etc.This method uses fuzzy PID algorithm to re-divide the interval range,formulates an adaptive rule library,and dynamically obtains the optimal parameters at each time.Through simulation verification,the overshoot is suppressed by 7%,the adjustment time is accelerated by 0.91 s,and the static error is reduced by 0.14°.Finally,the accuracy of the design and simulation is verified by experiments.
作者
梁晓峰
乔禹淇
刘华峰
李强
LIANG Xiaofeng;QIAO Yuqi;LIU Huafeng;LI Qiang
出处
《现代机械》
2024年第3期86-90,共5页
Modern Machinery
关键词
舵机
模糊PID
参数自整定
动态性能
rudder
fuzzy PID
parameter self-setting
dynamic performance
