%Three Loop of Flight Simulator Servo System with Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L<<1 Inductance of motor armature
R=1; %Resistence of motor armature
ki=0.001; %Current feedback coefficient
%(2)Velocity loop
kd=6; %Velocity loop amplifier coefficient
kv=2; %Velocity loop feedback coefficient
J=2; %Equivalent moment of inertia of frame and motor
b=1; %Viscosity damp coefficient of frame and motor
km=1.0; %Motor moment coefficient
Ce=0.001; %Voltage feedback coefficient
%Friction model: Coulomb&Viscous Friction
Fc=100.0;bc=30.0; %Practical friction
%(3)Position loop: PID controller
ku=11; %Voltage amplifier coefficient of PWM
kpp=150;
kii=0.1;
kdd=1.5;
%Friction Model compensation
%Equavalent gain from feedforward to practical friction
Gain=ku*kd*1/R*km*1.0;
Fc1=Fc/Gain; bc1=bc/Gain; %Feedforward compensation
三环电机的PID控制MATLAB仿真
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2022-02-20
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