基于非线性PID的冗余驱动机构控制

摘要

The redundant drive mechanism is a special mechanism wich the fault-tolerance and stable low export. This article elabo-rates its working principle and does the kinematic analysis. After the brushless DC moter and the screw drive model ing, it establishes the close-loop control model of the redundant drive and based on the linear-PID, designs a nonlinear-PID, then its feasibility is proved through the frequency response test.%冗余驱动机构是一个具有容错、低速输出的特殊机构。阐述了冗余驱动机构的工作原理，对该机构进行了运动学分析。在进行无刷直流伺服电机和丝杠传动机构建模后，建立了冗余驱动机构的全闭环数学模型。在介绍线性PID基础上，设计了应用于该传动机构的非线性PID控制器。对该冗余驱动机构进行了频响试验，验证了非线性PID控制器的合理可行。