【摘要】 跟踪高速球是典型非线性时变系统。在跟踪高速球步进电机的控制上,单独采用传统的PID控制或简单模糊控制难以实现对高速物体的追踪。在分析高速球常规控制模式的基础上,提出并设计了一种模糊PID控制器的方法实现对单轴高速球步进电机的控制,并在此基础上建立三维跟踪轨迹的数学模型,实现对高速物体的立体跟踪。仿真和实际应用表明:该控制方法具有更高的轮廓跟踪精度、定位精度和对扰动的鲁棒性。更多还原

【Abstract】 High-speed and Rotated dome camera system is a typical high-speed nonlinear time- varying system. Conventional PID control or simple fuzzy control is difficult to achieve high- speed object tracking in stepper motor control. Based on the analysis of high- speed signal on the basis of conventional control mode, this paper proposed and designed a fuzzy PID controller uniaxial method to achieve high- speed stepper motor control. Three-dimensional trajectory mathematical model was built to achieve the high- speed track. Simulation and practical application show the proposed control method has a higher profile tracking precision, accuracy and robustness of the disturbance.更多还原