直流电机PID控制系统仿真研究

摘要

The DC motor is a DC electrical energy into mechanical energy or to convert mechanical energy into DC power to the rotary motor. PID (proportional-integral-derivative) controller, by the ratio of unit P, integral unit I and differential unit composed by D, Kp, Ki and Kd three parameters setting, mainly applicable to basic linear and dynamic characteristics of the system does not change with time. PID controller as the first practical controller has 70 years of history, products have been widely in the practical engineering application. Because the PID controller is simple and easy to understand, in use does not need precise system model and other preconditions, and thus become the most widely used controller. According to the conventional PID control system for DC motor parameters setting has some complexity problems, analysis of the PID principle and structure of the control system, according to the choice of parameters, establishes the mathematical model. DC motor model simulation analysis, and the PID control simulation results were analyzed, through the simulation results of PID control system has good static, dynamic performance and robustness.%直流电机是将直流电能转换成机械能或将机械能转换成直流电能的旋转电机。PID（比例-积分-微分）控制器,由比例单元P、积分单元I和微分单元D组成,通过Kp,Ki和Kd 3个参数的设定,主要适用于基本线性和动态特性不随时间变化的系统。PID控制器作为最早实用化的控制器已有70多年的历史,产品已在工程实际中得到了广泛的应用。PID控制器由于简单易懂,在使用中不需精确的系统模型等先决条件,因而成为应用最为广泛的控制器。文章针对常规直流电动机PID控制系统的参数整定存在一定复杂性的问题,分析了PID控制系统的结构和原理,根据参数的选择,建立了数学模型。对直流电动机模型进行仿真分析,并对PID控制的仿真结果进行对比分析,通过仿真结果发现PID控制系统具有良好的静、动态性能和鲁棒性。