直线电机的PID控制器设计

基于MATLAB的直线电机PID控制器设计

摘要

随着现代工业的飞快发展，控制对象日益复杂，对其的性能控制要求也不断提高，致使人们寻找更好的控制方法，其中以改进PID控制最为典型。PID控制器具有结构简单、容易实现、控制效果好、鲁棒性强等特点，是目前最稳定的控制方法之一。它所涉及的参数物理意义明确，理论分析体系完整，并为工程界所熟悉，因而在工业过程控制中得到了广泛应用。

直线电机是近年来国内外积极研究发展的新型电机之一，凭借自身的特性在以直线运动的工业控制中，有比旋转电机巨大的优越性。可广泛应用于交通运输、起重搬运、物流传输装置、国防及煤矿运输、车床进给等方面，发展前景十分广阔。

传统的比例积分微分( PID) 控制器参数往往因整定不良、性能欠佳,对运行状况的适应性很差。简单的控制又不能很好地适应对象系统特性变化时的最佳控制要求。因此，鉴于控制方法目前仍有广泛应用，对参数整定方法的研究将具有很好的应用价值。本文根据稳定边界法则及Ziegler-Nichol算法,以直线电机控制模型为例介绍如何在MATLAB 工具帮助下整定并验证PID 控制器参数，使参数的整定变得简单、易行，使整定效果更优化。

关键词:直线电机PID控制 MATLAB 控制系统参数整定系统仿真

Abstract:

With the fast development of modern industry, more complicated control object, its performance control requirements improve continuously, cause people looking for better control method, which to improve PID control is the most typical example. The PID (Proportional-Integral-Derivative) control is one of the most common control methods at present. Its structure is simple and easy to implement, however, the control effect is perfect and it has a strong robust characteristics. The physical parameters is, meaning of ,theoretical analysis of system is integrity, and it is familiar by the engineering sector, which in the industrial process control has been widely used.

Linear motor is one of the studied new motor. Because of its peculiarity, the linear motor performed better than rotary motor in the control systems when the moving route is linear. Its application range extends widely and widely. And it has been applied in many fields.

However, the traditional parameter adaptability of proportion-integral-differential (PID) controller to the operating situation is very bad sometimes because the reduction and performance isn't good. Simple control and can't well adapt to changes in the system characteristics of the object of optimal control requirements. Therefore, in view of the control method is currently there are still widely used, to the study of the method of parameter setting will have a good application value. According to the stable boundary principle and Ziegler-Nichol algorithm, this paper introduces how to reduce and validate the PID controller parameter with the help of MATLAB tool taking the linear motor control model as an example. Making the parameters set becomes simple, easy to operate, and make the setting effect more optimization.

Key words：Linear motor,PID control, Matlab, Control system, Parameters setting, System simulation

目录

基于MATLAB的直线电机PID控制器设计 ........................................................................... I 摘要........................................................................................................................................ I 关键词:................................................................................................................................... I Abstract: .............................................................................................................................. I I Key words: ........................................................................................................................... I I 第一章引言. (1)

第二章直线直流电机控制系统 (3)

1、直线电机进给系统的研究现状 (3)

2、直流直线电机的工作原理 (4)

3、直流直线电机数学模型 (6)

4、控制方案 (7)

第三章PID控制器及MATLAB简介 (9)

1、PID控制简介 (9)

1）P控制 (9)

2）PI控制 (9)

3）PD控制 (10)

4）PID控制 (10)

2、MATLAB简介 (12)

第四章控制系统及PID参数整定方法 (15)

1、控制系统构成 (15)

2、PID参数整定的几种方法概述 (15)

2.1.PID参数整定方法 (15)

2.2.PID调整方式 (16)

第五章直线电机PID控制器的设计 (21)

1.Ziegler-Nichols整定方法 (21)