基于MEMS传感器的无线位置跟踪控制仿真应用

Application and simulation for wireless position servo control system based on MEMSsensor

摘要:

针对目前位置伺服控制系统存在一定程度跟随误差,且在特殊作业环境下难以布线等特点,文中提出一种基于三轴陀螺仪和加速度传感器(MEMS)无线位置伺服控制算法应用。采用意法半导体微控制器(STM32F103RBT6)滤波处理三轴陀螺仪(L3G4200D)和加速度计(AXDL)获取的位置信号,并通过无线射频技术进行上、下位机数据传输,利用Fuzzy-PID超前校正复合算法对伺服系统进行全闭环控制,在Matlab/Simulation中建立控制模型并做详细仿真分析。实验仿真结果表明,该系统动态位置跟随误差低至10-3,动态响应调节时间小于0.05s,控制精度和数据实时同步传输得到了有效改善。

Abstract:

In allusion to the following error of servo control system is higher,and it's very difficult to cabling in the special working environment, so this paper proposes that algorithm for servo control system based on the triaxial gyro and accelerometer sensor. Micro controller (STM32F103RBT6) is used to process the position signal from gyro (L3G4200D), and data transmission between upper and lower control system by radio frequency technology, a composite algorithm which is Fuzzy-PID and advanced correction is apply to system by full closed-loop, build model and analyze the main error source in the Matlab/Simulation. Simulated result of experiment indicates that the dynamics following error low to 10-3, the regulation time less than 0.05s, the precision and real-time are improved greatly.