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href="/bethel/news">數(shù)控文章</a></li> </ol> </nav> </div> <!--/sub_menu--><!-- 面包屑導(dǎo)航結(jié)束 --> <!-- 頁面標(biāo)題開始 --> <div id="tpnrxl7j" class="title"> <h3><a>振動(dòng)與R D控制爬行仿真分析-總結(jié)<small></small></a></h3> </div> <!-- 頁面標(biāo)題結(jié)束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="tpnrxl7j" class="container"> <!-- 正文 --> <div id="tpnrxl7j" class="lead" id="print"> <p> <span id="tpnrxl7j" class="18" style="line-height: 11pt; text-indent: 0pt; font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">5.5</span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">本章總結(jié)</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制器的本質(zhì)是被控對象輸出（也就是控制器出入</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">）</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">跟控制輸出的函數(shù)映射關(guān) 系。</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">在線性時(shí)不變的基礎(chǔ)上限制到三個(gè)自由度，有</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制、</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制和</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制。根 據(jù)</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制的特點(diǎn)（不是基于模型的控制方法），在模型圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">2.3</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">上加入</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制系統(tǒng)模 擬仿真后，完全抑制住了爬行。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(1) </span><!--[endif]--><span id="tpnrxl7j" class="19" style="font-family: 宋體; letter-spacing: 1.5pt; font-size: 11pt;">比例控制是</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制系統(tǒng)中最簡單的一種控制方式，應(yīng)用比例控制時(shí)，考慮至</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">IJ </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">比例控制增益參數(shù)過小或者過大都不利于抑制爬行</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">比例控制增益參數(shù)過小達(dá)不到抑制 爬行的目的；比例控制增益參數(shù)過大時(shí)，比例控制輸出存在穩(wěn)態(tài)誤差會(huì)造成系統(tǒng)不穩(wěn)定）， 取</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">的增益參數(shù)為</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">0.7</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">0.8</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">時(shí)最理想，沒有爬行出現(xiàn)。所以，只應(yīng)用比例控制就 能改善爬行，簡單方便。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(2) </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">比例+積分控制可以使系統(tǒng)在進(jìn)入穩(wěn)態(tài)后無穩(wěn)態(tài)誤差，但是由圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">5.5</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">5.6</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">可 以發(fā)現(xiàn)，比例積分控制不論過小或者過大都對爬行改善效果不理想，經(jīng)過</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制器調(diào)節(jié) 后的速度與驅(qū)動(dòng)速度不匹配，導(dǎo)致控制精度不高。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(3) </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">比例+積分+微分控制能夠改善系統(tǒng)在調(diào)節(jié)過程中的動(dòng)態(tài)特性，但是存在和</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制一樣的問題，三個(gè)增益參數(shù)選取過大都導(dǎo)致了過飽和現(xiàn)象的發(fā)生，這種發(fā)生過飽和 至女使速度顯示穩(wěn)定在大于</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">8</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">mm</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">/</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">s</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">之內(nèi)，后又穩(wěn)定在小于</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">8</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">mm</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">/</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">s</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(4) </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">根據(jù)</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制和</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制出現(xiàn)的問題，將</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">進(jìn)行參數(shù)化計(jì)算，對</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain、I</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">、 </span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">D</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和同時(shí)對三個(gè)增益參數(shù)分別進(jìn)行參數(shù)化計(jì)算，得出只對</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">進(jìn)行參數(shù)化計(jì)算比 其他三種參數(shù)化計(jì)算方式都好，而且只要參數(shù)選取合適，就能完全解決比例積分控制和 比例積分微分控制中存在的控制力度不足和過飽和現(xiàn)象的發(fā)生，并且抑制了爬行。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(5) </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">在第四章加入振動(dòng)仿真的過程中，挑選</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">sin</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(8</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">t</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">)、9</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">sin</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(8</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">t</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">21</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">sin</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">(8</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">t</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">這一組在加 入振動(dòng)仿真過程中，改善較差的三幅圖，在振動(dòng)模型圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">4.1</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">上面加入</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制后，從圖 5.13、圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">5.14</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">5.15</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">能夠看出：在加入振動(dòng)的基礎(chǔ)上再加入</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制系統(tǒng)后彌補(bǔ)了加 入振動(dòng)改善不理想的狀態(tài)。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">本章利用</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制原理及其應(yīng)用理論針對爬行的</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ADAMS</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">仿真模型，進(jìn)行了大量 的分析后，解決了爬行問題，并且整定參數(shù)較容易。根據(jù)這點(diǎn)想到了之前在加入振動(dòng)參 數(shù)范圍不好確定的基礎(chǔ)上，可以在加入振動(dòng)后在加入</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制系統(tǒng)，來進(jìn)一步完善在振 動(dòng)仿真過程中所存在的不足。如果只是單純利用</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">來控制爬行雖然取得了較為滿意的 效果，但由于在整定參數(shù)范圍的時(shí)候，需要調(diào)整的參數(shù)項(xiàng)過多、線性組合不是最好的方 式、誤差積分反饋項(xiàng)的引入有很多副作用（比如易產(chǎn)生振蕩、易產(chǎn)生由積分飽和引起的 控制量飽和）和初始誤差$父大易引起超調(diào)等一■系列問題等等，所以進(jìn)一■步研宄</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和振 動(dòng)之間的相互關(guān)系來一起抑制機(jī)床的爬行有一定的研宄價(jià)值。</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"> </p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“振動(dòng)對數(shù)控機(jī)床進(jìn)給系統(tǒng)爬行的影響”，因?yàn)榫庉嬂щy導(dǎo)致有些函數(shù)、表格、圖片、內(nèi)容無法顯示，有需要者可以在網(wǎng)絡(luò)中查找相關(guān)文章！本文由伯特利數(shù)控整理發(fā)表文章均來自網(wǎng)絡(luò)僅供學(xué)習(xí)參考，轉(zhuǎn)載請注明！</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div id="tpnrxl7j" class="blank30"></div> <!-- tag --> <div id="tpnrxl7j" class="blank10"></div> 標(biāo)簽： <a 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