In the paper,a control mode combining adjacent cross-coupling control strategy and PID control algorithm is proposed.The tracking error compensation is realized for a single motor through PID control,and the synchronization error between the motors is compensated by the adjacent cross-coupling control strategy.Finally,it is implemented on a three-axis turntable based on STM32 microcontroller and verified by experiments.The results demonstrate the effectiveness and feasibility of the control algorithm combining adjacent cross-coupling control and PID control.
Key words
STM32F4 /
synchronous control /
three-axis turntable /
adjacent cross-coupling
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
References
[1] 徐文武,李孟委,张鹏.基于模糊PID控制算法的微小型三轴稳定平台[J].仪表技术与传感器,2020(4):90-93,97.
[2] 高德超.多电机系统协同控制研究[D].济南:济南大学,2015.
[3] 韩仁银,郭阳宽,祝连庆,等.多电机同步控制综述[J].电机与控制应用,2017,44(6):8-12.
[4] 薛建峰,王景芹,杨昭.多感应电机相邻交叉耦合快速终端滑模同步控制[J].包装工程,2017,38(7):173-177.
[5] 赵思远.基于协同理论的直流电机控制算法研究[D].长春:长春工业大学,2020.
[6] 徐文武.基于MEMS惯性测量单元的多功能稳定平台关键技术研究[D].太原:中北大学,2020.
[7] 叶宇豪,彭飞,黄允凯.多电机同步运动控制技术综述[J].电工技术学报,2021,36(14):2922-2935.
[8] 马正友.基于ARM的多电机同步控制系统的设计[J].微特电机,2015,43(3):66-68,77.
PDF(1366 KB)
