基于SOPC的舵机控制器研究

研究一种开放式全数字舵机控制器。控制器采用了全数字三闭环控制，实现了舵机位置伺服控制功能，其中位置环采用PID参数模糊自整定的算法，电流环、速度环作为内环采用PI调节的算法，并对采用PID参数模糊自整定的算法和传统PID算法所得的结果进行了对比分析。实验结果表明，系统有较好的鲁棒性和动、静态性能，可达到位置跟踪效果。

Study on Actuation Controller Based on SOPC

An open-end all-digital controller electro-mechanical actuator was designed and studied in this paper.Position loop adopted a parametric fuzzy self-regulation PID control while current loop and velocity loop,as inner loops,employed an algorithm of PI accommodate.Parametric fuzzy self-regulation PID control algorithm and conventional PID algorithm were compared in the system position loop.Experimental results showed that our system gained a better bang-bang idiosyncrasy and a better dynamic/static characteri...