飞艇隔振云台电机控制器设计与实现

飞艇隔振云台的主要执行机构是三相无刷直流电机，电机控制的精度决定了隔振云台系统的隔振效果。传统的云台电机控制器设计方法是根据控制规律通过反复试凑，得到PID控制器参数，这种方法费时费力，需要一定的调参经验。针对云台调参问题，对无刷直流电机进行了理论分析与模型建立，并提供一种与传统方法不同的利用特定工具和技术手段获取模型参数的方法，通过Matlab中rltool根轨迹零极点配置工具设计出合理的控制器，使得电机具有良好的动态响应和稳态响应。并且在此基础之上将控制器实际运用到云台平台上，实验取得良好的控制效果，为隔振云台中三相无刷直流电机控制器设计与调参方案提供参考。

Design and Implementation of Motor Controller for Airship Secondary Stability System

The main actuator of the airship vibration isolation gimbal is a three-phase BLDC(Brushless Direct Current) motor.The accuracy of the motor control determines the vibration isolation effect of the gimbal system to a certain extent.The traditional vibration isolation gimbal motor controller design method obtains PID controller parameters through trial and error according to the control law,but this method is time-consuming and requires some experiences in parameter adjustment.In order to solve the problem of adjusting the parameters of the vibration isolation gimbal motor controller,the structure of the PLDC motor is theoreticaly analyzed,and its mathematical model is established.A method for obtaining model parameters through specific tools and technical means is provided,which is different from traditional methods.And a reasonable controller is designed through the rltool root locus zero-pole configuration tool in Matlab,which makes the motor have a good dynamic response and steady state response.On this basis,the controller is actually applied to the gimbal platform,and the experiment has achieved good control results,which also provides a reference for the design and parameter adjustment scheme of the three-phase BLDC motor controller in the vibration isolation gimbal.