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id="tpnrxl7j" class="title"> <h3><a>伺服進給系統的穩定性分析<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="tpnrxl7j" class="container"> <!-- 正文 --> <div id="tpnrxl7j" class="lead" id="print"> <p class="NewStyle50" style="margin: 0pt 0pt 8.05pt; text-indent: 0pt; page-break-after: avoid; line-height: 14pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">4.2</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">伺服進給系統的穩定性分析</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <table cellpadding="0" cellspacing="0"> <tbody> <tr> <td width="16.4667" height="0"> </td> </tr> <tr> <td> </td> <td><img width="574" height="15" src="file:///E:\QQPCmgr\Temp\ksohtml\wps71.tmp.png" alt="" /></td> </tr> </tbody> </table> <p class="NewStyle45" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:26.0000pt; mso-pagination:none; text-align:justify; text-justify:inter-ideograph; "><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">滾珠絲杠伺服進給系統的穩定性是系統正常工作的前提。空心滾珠絲杠、實心滾 珠絲杠的穩定性用開環伯德圖來驗證，并從理論上用勞斯判據證明了從電機到工作臺 </span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 2pt; font-size: 10.5pt;">機械部分系統的穩定性。根據上面的分析及表4.1、表</span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 2pt; font-size: 10.5pt;">4.2</span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 2pt; font-size: 10.5pt;">中的參數在 </span><span id="tpnrxl7j" class="19" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">MATLAB</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">/</span><span id="tpnrxl7j" class="19" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">Simulink</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">中建立整個系統、部分系統</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">[</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">4</span><span id="tpnrxl7j" class="19" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">G</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">'</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">53</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">的仿真模型分別如圖4.2、圖4.3。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:26.0000pt; mso-pagination:none; text-align:justify; text-justify:inter-ideograph; "><span style="font-family: 宋體; font-size: 10.5pt; letter-spacing: 0pt; line-height: 22.1pt; text-indent: 0pt;">系統穩定性的判斷：穩定性是指當輸出量偏離給定的輸入量的初始值隨著時間的 推移，能逐漸趨于零時，則系統穩定。由閉環傳函判斷系統判別是否為最小相位系統。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">滾珠絲杠伺服進給系統的穩定性是系統正常工作的前提。空心滾珠絲杠、實心滾 珠絲杠的穩定性用開環伯德圖來驗證，并從理論上用勞斯判據證明了從電機到工作臺 </span><span id="tpnrxl7j" class="16" style="font-family: 宋體; letter-spacing: 2pt; font-size: 10.5pt;">機械部分系統的穩定性。根據上面的分析及表4.1、表</span><span id="tpnrxl7j" class="16" style="font-family: 宋體; letter-spacing: 2pt; font-size: 10.5pt;">4.2</span><span id="tpnrxl7j" class="16" style="font-family: 宋體; letter-spacing: 2pt; font-size: 10.5pt;">中的參數在 </span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">MATLAB</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">/</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">Simulink</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">中建立整個系統、部分系統</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">[</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">4</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">G</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">'</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">53</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">的仿真模型分別如圖4.2、圖4.3。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle51" style="margin: 0pt; text-indent: 0pt; line-height: 22.1pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <table cellpadding="0" cellspacing="0"> <tbody> <tr> <td><span style="font-family: 宋體; font-size: 10.5pt; letter-spacing: 0pt; line-height: 11pt; text-indent: 0pt;"><br /> 然后由閉環系統傳涵推導出開環傳涵，用伯德圖穩定判據的程序判定系統的穩定性。</span></td> <td> </td> </tr> </tbody> </table> <p class="NewStyle51" style="margin: 0pt; text-indent: 25pt; line-height: 22.1pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">通過對伯德圖4.4、伯德圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">4.5</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">對比可知實行滾珠絲杠與空心滾珠絲杠都是穩定的， 差別不明顯。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><br clear="all" style="page-break-before:always" /> </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:2.4000pt; margin-left:0.0000pt; text-indent:26.0000pt; mso-pagination:none; text-align:justify; text-justify:inter-ideograph; line-height:11.5000pt; mso-line-height-rule:exactly; "><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">無論空心滾珠絲杠還是實心滾珠絲杠，在</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">Mat</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">lab</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">對話框中顯示：</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle53" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:2.4000pt; margin-left:0.0000pt; text-indent:26.0000pt; mso-pagination:none; line-height:11.5000pt; mso-line-height-rule:exactly; "><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">The</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">system</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">is</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">stable</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle53" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:26.0000pt; mso-pagination:none; line-height:11.5000pt; mso-line-height-rule:exactly; "><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">The</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">system</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">is</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">minimal</span><span id="tpnrxl7j" class="18" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">phase</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:26.0000pt; mso-pagination:none; text-align:justify; text-justify:inter-ideograph; "><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">由自控原理可知：由于系統存在著慣量，當系統的各個參數分配不恰當時，將會 引起系統的振蕩或是越來越遠離平衡位置而失去工作能力。由此可見，減小系統的慣 量對于系統的穩定性是有利的。對于線性系統來說，非最小相位系統是傳遞函數中至 少有一個極點或零點的實部值為正值的一類線性定常系統。反之，當系統的所有極點 和零點的實部均為負值時，稱為最小相位系統。最小相位系統傳遞函數可由其對應的 開環對數頻率特性唯一確定。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle51" style="margin: 0pt 0pt 31.65pt; text-indent: 26pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">由此可知系統是穩定的。下面由閉環系統的特征方程式</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">4.32</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">推導</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">Routh</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">判據， 由</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">Routh</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">判據并帶入具體參數得</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <p class="NewStyle54" style="margin: 0pt; text-indent: 0pt; line-height: 10pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">表</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">4.3 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">系統的</span><span id="tpnrxl7j" class="24" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-weight: bold; font-size: 10.5pt;">Routh</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">表</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <table class="MsoNormalTable" style="border-collapse:collapse; width:129.1500pt; mso-table-layout-alt:fixed; mso-padding-alt:0.0000pt 5.4000pt 0.0000pt 5.4000pt ; "> <tbody> <tr style="height:25.2000pt; "> <td width="45" valign="center" style="width: 33.85pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin: 0pt; text-indent: 0pt; line-height: 9.5pt;"><span id="tpnrxl7j" class="26" style="font-family: 'Times New Roman'; letter-spacing: 0.5pt; font-size: 10.5pt;">S</span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">3</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="83" valign="center" style="width: 62.9pt; padding: 0pt 5.4pt; border-left-width: 0.5pt; border-left-style: solid; border-left-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:0.0000pt; mso-pagination:none; text-align:center; line-height:9.5000pt; mso-line-height-rule:exactly; "><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">0.16</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="43" valign="center" style="width: 32.4pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:0.0000pt; mso-pagination:none; text-align:right; line-height:9.5000pt; mso-line-height-rule:exactly; "><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">663</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:28.3000pt; "> <td width="45" valign="center" style="width: 33.85pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin: 0pt; text-indent: 0pt; line-height: 9.5pt;"><span id="tpnrxl7j" class="26" style="font-family: 'Times New Roman'; letter-spacing: 0.5pt; font-size: 10.5pt;">S</span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">2</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="83" valign="center" style="width: 62.9pt; padding: 0pt 5.4pt; border-left-width: 0.5pt; border-left-style: solid; border-left-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:0.0000pt; mso-pagination:none; text-align:center; line-height:9.5000pt; mso-line-height-rule:exactly; "><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">0.0063</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="43" valign="center" style="width: 32.4pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:0.0000pt; mso-pagination:none; text-align:right; line-height:9.5000pt; mso-line-height-rule:exactly; "><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">26</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:28.1000pt; "> <td width="45" valign="center" style="width: 33.85pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin: 0pt; text-indent: 0pt; line-height: 9.5pt;"><span id="tpnrxl7j" class="26" style="font-family: 'Times New Roman'; letter-spacing: 0.5pt; font-size: 10.5pt;">S</span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">1</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="83" valign="center" style="width: 62.9pt; padding: 0pt 5.4pt; border-left-width: 0.5pt; border-left-style: solid; border-left-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin-top:0.0000pt; margin-right:0.0000pt; margin-bottom:0.0000pt; margin-left:0.0000pt; text-indent:0.0000pt; mso-pagination:none; text-align:center; line-height:9.5000pt; mso-line-height-rule:exactly; "><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">0.0169</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="43" valign="top" style="width: 32.4pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="MsoNormal"><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 10.5pt;"> </span></p> </td> </tr> <tr style="height:30.2500pt; "> <td width="45" valign="center" style="width: 33.85pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin: 0pt; text-indent: 0pt; line-height: 9.5pt;"><span id="tpnrxl7j" class="26" style="font-family: 'Times New Roman'; letter-spacing: 0.5pt; font-size: 10.5pt;">S</span><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: super;">0</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="83" valign="center" style="width: 62.9pt; padding: 0pt 5.4pt; border-left-width: 0.5pt; border-left-style: solid; border-left-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle51" style="margin: 0pt 0pt 0pt 14pt; text-indent: 0pt; line-height: 9.5pt;"><span id="tpnrxl7j" class="15" style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">26</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> </td> <td width="43" valign="top" style="width: 32.4pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="MsoNormal"><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 10.5pt;"> </span></p> </td> </tr> </tbody> </table> <p class="MsoNormal"><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 10.5pt;"> </span></p> <p class="NewStyle51" style="margin: 1.2pt 0pt 24.45pt; text-indent: 26pt; line-height: 22.1pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">從</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">Routh</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">表可知，前兩行數值的符號為正，第一列數值的符號全部為正，故該系 統穩定。然而從</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">s</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">2</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">及</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">si</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">的數值較小可知，系統的穩定余量很小，由于主要是判斷系 統的穩定性，故在建立系統的模型時沒有將</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">控制器及伺服放大器的模型一并建立 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">(</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;">傳遞函數復雜）。</span></p> <p class="NewStyle51" style="margin: 1.2pt 0pt 24.45pt; text-indent: 26pt; line-height: 22.1pt;"> </p> <p class="NewStyle51" style="margin: 1.2pt 0pt 24.45pt; text-indent: 26pt; line-height: 22.1pt;"><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“空心滾珠絲杠在數控機床伺服進給系統中的應用研究”，因為編輯困難導致有些函數、表格、圖片、內容無法顯示，有需要者可以在網絡中查找相關文章！本文由伯特利數控整理發表文章均來自網絡僅供學習參考，轉載請注明！</span></p> <p class="NewStyle51" style="margin: 1.2pt 0pt 24.45pt; text-indent: 26pt; line-height: 22.1pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p></div> <div id="tpnrxl7j" class="blank30"></div> <!-- tag --> <div id="tpnrxl7j" class="blank10"></div> 標簽： <a 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