无刷驱动单轴旋翼系统控制算法设计教材.doc

无刷驱动单轴旋翼系统控制算法设计 摘 要 现在随着科技知识的普及，大家对航模、旋翼飞机之类的科技产品都比较感兴趣。这类产品的主要控制原理相似，很多都是对直流电机的控制。 单轴旋翼系统就是其中的一个例子，它主要是通过用单片机控制电机的转速，从而达到控制电机位置的目的。主要的控制原理就是利用单片机控制PWM波的输出，从而调节电机的转速，使其可以停留在设定的位置上数学模型，一般是指用数学语言、符号或图形等形式来刻画、描述、反映特定的问题或具体事物之间关系的数学结构。广义地讲，一般表现为数学的概念、法则、公式、性质、数量关系等。数学模型具有一般化、典型化和精确化的特点。SIMULINK对PID控制算法进行模拟仿真。SIMULINK，是MATLAB最重要的组件之一，它提供一个动态系统建模、仿真和综合分析的集成环境。在该环境中，无需大量书写程序，而只需要通过简单直观的鼠标操作，就可构造出复杂的系统。Simulink具有适应面广、结构和流程清晰及仿真精细、贴近实际、效率高、灵活等优点，并基于以上优点Simulink已被广泛应用于控制理论和数字信号处理的复杂仿真和设计关 键 词： Uniaxial rotor system control algorithm design ABSTRACT With the popularization of scientific and technological knowledge, the class of model aircraft, rotorcraft technology products are more interested. DC motor control is similar to the main control principle of such products. Single spindle rotor system is one example of this, It is mainly by using single chip microcomputer control motor rotational speed, thus achieve the goal of control of motor position. Main control principle is the use of single-chip microcomputer control PWM wave output, so as to adjust the rotation speed of motor, make it can stay on the set position. Single spindle rotor system using AVR ATMEGA 328 p single chip microcomputer as controller, using brushless motor driven rotor, using micro-electro-mechanical sensor detect acceleration, angular velocity and azimuth. With position instruction from a computer, microcontroller receives the position command, the actual location by sensor, control the rotation of the rotor speed, make main shaft movement to set position. Design control algorithm, use matlab to make weight can be stable, accurate, fast in response to a given command. A mathematic model of the single shaft rotor system. Mathematical model, generally refers to the use of mathematical language, symbols or graphics to depict, description, reflect a specific problem or the mathematical model of the specific relationships between things. Broadly speaking, the