Research on Position Servo PID Control for the 3D Rigid Pendulum

doi:10.11985/2016.10.007

Abstract

Abstract:

3D rigid pendulum is a typical system used to study complex dynamics and control system. Driving the permanent magnet synchronous motor (PMSM) of 3D rigid pendulum generate control torque, reducing posture error and reaching posture stable at the specified position. In this paper, the mathematical model of the 3D rigid pendulum is constructed by Matlab. Based on 3D rigid pendulum experiment platform, the PID strategy is used for the output torque of PMSM and the posture of 3D rigid pendulum is got. The results of simulation show that the PID control strategy can not only meet the dynamic characteristics of system, but the effectiveness of the control strategy for 3D rigid pendulum is verfied.

Key words: 3D rigid pendulum, PID control, position servo system, permanent magnet synchronous motor

CLC Number:

TP301

Zhaojiang Diao,Hong Li,Jin Li. Research on Position Servo PID Control for the 3D Rigid Pendulum[J]. Journal of Electrical Engineering, 2016, 11(10): 37-43.

Figures/Tables 10

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控制策略性能指标	PID控制
上升时间t_r（稳态值的10%上升到90%所需要的时间）/s	0.015
调节时间t_s/s	0.019
超调量 δ%	0
定位精度	准确

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