激光雷达转镜扫描直流电机精确调速控制研究

摘要

针对激光雷达转镜扫描系统对电机调速要求精度高的问题,提出了一种直流电机的模糊PID双闭环调速方法.针对常规调速方法参数整定不良的问题,在双闭环直流调速系统的基础上,结合经典PID控制及现代模糊控制理论的优良特性,采用模糊PID双闭环直流调速方法使系统参数能够自整定,并对其调速系统仿真分析.仿真结果表明,在快速响应性和抗干扰性能方面,模糊PID双闭环直流调速系统比双闭环直流调速系统有着明显的提高和优势,而且对非线性时变信号有着良好的控制效果,满足激光雷达转镜扫描系统的电机精确调速需求.%Aiming at the problem of the high precision of the LIDAR rotating mirror scanning system,the article proposes a fuzzy PID double closed-loop speed regulation method of DC motor.Aiming at the problem that the parameters of the conventional speed regulation method can not be self adapted,based on double closed-loop DC motor speed control system and combined with the advantages of classical PID control and modern fuzzy control theory,we used the fuzzy PID brushless DC Motor double closed-loop speed control method to self-tuning the parameters,and that the system was simulated and analyzed.The simulation results show that the fuzzy PID brushless DC Motor double closed-loop speed control system has obvious improvement and superiority to the double closed-loop DC speed regulation system in the fast response performance and anti-jamming performance.The fuzzy PID brushless DC Motor double closed-loop speed control system has a good control effect on the nonlinear time-varying objects,and meets the precise speed regulation of motor of LIDAR Scanning System.