摘要分数阶PID控制器是常规整数阶PID控制器的拓展，它比整数阶PID控制器多了两个可调参数，可取得比整数阶PID控制器更好的控制效果。对分数阶控制算法的理论分析和应用研究，具有重要的理论意义与广泛的应用前景。86036

通过在matlab的simulink平台上的仿真，搭建了一个双环控制的伺服电机的传递函数。同时搭建了整数阶PID的模型与分数阶PID的模型，并将其应用在整个双环控制的整个传递函数中。然后，通过观察输出信号与输入信号的差值，得到应用分数阶控制器和整数阶控制控制器的伺服电机模型的系统误差。改变被控对象的传递函数以及加入一个扰动。观察输入信号和输出信号的差值。更过这个差值来得到分数阶控制器和整数阶控制器的抗扰性和鲁棒性。

实验结果表明，比起整数阶控制器，分数阶控制算法在伺服系统中鲁棒性和抗扰性都要更好。

毕业论文关键词：分数阶PID 伺服系统 伺服电机。

毕业设计说明书外文摘要

Title  Research on fractional order control algorithm of  motor servo system 

Abstract The fractional order PID controller is an extension of the conventional integer order PID controller, which has two adjustable parameters than the integer order PID controller, which can achieve better control effect than the integer order PID controller。 The theoretical analysis and Application Research of fractional order control algorithm has important theoretical significance and broad application prospect。

Through the simulation on the Simulink platform of MATLAB, the transfer function of a double loop controlled servo motor is set up。 At the same time, the integer order PID model and the fractional order PID model are built, and the whole transfer function of the whole double loop control is applied。 Then, by observing the difference between the output signal and the input signal, the system error of the servo motor model is obtained by using the fractional order controller and the integer order controller。 Change the transfer function of the controlled object and add a disturbance。 The difference between the input and the output signal is observed。 More than this difference to get the fractional order controller and integer order controller's immunity and robustness。

The experimental results show that the fractional order control algorithm is better than the integer order controller in the servo system。

Keywords the fractional order PID  servo system  servo motor 

目  次

1  绪论 1

1。1  伺服系统与伺服电机 1

1。2  PID控制器介绍 1

1。3  分数阶PID的应用与前景 2

2。伺服系统的搭建 5

2。1  伺服系统的数学模型 5

2。2 电流环的简化 5

2。3 整体说明 7

2。4 整数阶PID的设计 8

3。分数阶PID控制器的设计 10

3。1分数阶系统和分数阶控制器 10

3。2 分数阶PID控制器的设计 12

4  仿真结果 18

5  仿真结果分析 24

结论 26

致谢 27

参考文献 28