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3D刚体摆是研究复杂刚体动力学与控制问题的典型位置伺服系统。永磁同步电机驱动执行机构产生控制力矩,使3D刚体摆在运动过程中的姿态误差减小,稳定在指定姿态位置。本文基于Matlab构造了3D刚体摆数学模型,以3D刚体摆实验平台为依托,利用PID策略对永磁同步电机的输出转矩和3D刚体摆的姿态进行控制,得到3D刚体摆姿态控制曲线。实验结果表明,系统的动态性能指标符合要求,PID控制对3D刚体摆复杂系统的控制是有效的。
3D rigid body pendulum is a typical position servo system that studies complex rigid body dynamics and control problems. The permanent magnet synchronous motor drives the actuator to generate the control torque so that the attitude error of the 3D rigid body during the movement is reduced and stabilized in the specified position. Based on Matlab, a 3D rigid body pendulum mathematical model is constructed. Based on the 3D rigid body pendulum experimental platform, the output torque of the permanent magnet synchronous motor and the attitude of 3D rigid body pendulum are controlled by PID strategy. Experimental results show that the dynamic performance of the system meets the requirements, and PID control is effective for the control of complex systems with 3D rigid bodies.