| 内模PID控制器在云台伺服系统中的应用 |
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| 引用本文： | 邢邦丽,赵志诚,曾建潮. 内模PID控制器在云台伺服系统中的应用[J]. 太原重型机械学院学报, 2012, 0(2): 105-109 |
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| 作者姓名： | 邢邦丽 赵志诚 曾建潮 |
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| 作者单位： | 太原科技大学电子信息工程学院,太原030024 |
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| 基金项目： | 国家自然科学基金（60975074） |
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| 摘 要： | 针对SG-5452460005-15W型永磁式直流减速电动机驱动的YP3091型摄像机云台伺服系统,建立了数学模型,并基于内模控制原理设计了一种新型PID控制器。该控制器设计方便,只有一个可调参数。仿真结果表明：系统的水平跟踪和仰俯跟踪误差均方根分别为0.15 mrad和0.32 mrad。与传统PID控制器相比,在内模PID控制器参数调节方面,系统跟踪响应快,精度高,抗干扰能力强,鲁棒性好。
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| 关 键 词： | 内模控制 云台 伺服电机 伺服系统 |
Application of an Internal Model PID Controller in the PTZ Servo System |
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| XING Bang-li,ZHAO Zhi-cheng,ZENG Jian-chao. Application of an Internal Model PID Controller in the PTZ Servo System[J]. Journal of Taiyuan Heavy Machinery Institute, 2012, 0(2): 105-109 |
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| Authors: | XING Bang-li ZHAO Zhi-cheng ZENG Jian-chao |
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| Affiliation: | (Institute of Electronic and Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China) |
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| Abstract: | For the PTZ（Pan Tilt Zoom）servo system,the model of SG-5452460005-15 W permanent magnet DC gear motor is used to drive YP3091 PTZ camera,the mathematical model of the system is established,and a new PID controller based on internal model principle is designed.The design of the proposed controller is simple and the controller has only one adjustable parameter.The results show that the root mean square tracking errors of azimuth and elevation are respectively 0.15-mrad and 0.32-mrad in the IMC-PID control system.Compared with the traditional PID controller,the parameter regulation of the IMC-PID controller is more convenient,and the system has fast response,high precision,anti-interference ability and better robustness. |
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| Keywords: | internal model control PTZ servo motor servo system |
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