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id="tpnrxl7j" class="title"> <h3><a>基于PMAC加工中心數控系統的調試<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><span style="font-size: small;"> <span id="tpnrxl7j" class="18" style="line-height: 14pt; font-family: Arial; letter-spacing: 0pt;"> 4.1 </span><span id="tpnrxl7j" class="18" style="line-height: 14pt; font-family: Arial; letter-spacing: 0pt;">PID</span><span style="line-height: 14pt; font-family: 宋體; letter-spacing: 0pt; font-weight: bold;">調試<br /> </span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">基</span></span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋體;">于</span><span id="tpnrxl7j" class="16" style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 'Times New Roman';">PMAC</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋體;">的運動控制卡的運動控制系統是一個全數字的伺服系統，這樣的系統可以 滿足高精度和高速度的要求。閉環伺服系統由位置環和速度環組成</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋體; vertical-align: super;">[4</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋體;">°</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋體; vertical-align: super;">]</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋體;">。位置環包括位置控 制模塊、位置檢測和反饋裝置；速度環包括伺服電動機、伺服電機驅動裝置、速度測量和 </span><span id="tpnrxl7j" class="20" style="line-height: 29.1333332061768px; font-size: small; font-family: 宋體; letter-spacing: -1pt;">反饋裝置</span><span id="tpnrxl7j" class="20" style="line-height: 29.1333332061768px; font-size: small; font-family: 宋體; letter-spacing: -1pt; vertical-align: super;">[4()]</span><span id="tpnrxl7j" class="20" style="line-height: 29.1333332061768px; font-size: small; font-family: 宋體; letter-spacing: -1pt;">。</span></p> <p class="NewStyle36" style="margin-right: 0pt; margin-left: 18pt; line-height: 11.5pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">1.</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">的</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">控制</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 0pt; line-height: 11.5pt;"><span style="font-size: small;"><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">(proportional</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">gain</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">、</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">integral</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">gain、derivative</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">gain</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">)</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">控制算法是一種在工業自動</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">化領域起到重要作用的經典控制算法，非常好的自動控制理論里面的最為基礎的</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">。</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC </span><span style="font-family: 宋體; letter-spacing: 0pt;">運動控制器中給用戶和開發者提供了 </span><span style="font-family: 宋體; letter-spacing: 0pt;">“</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">+</span><span style="font-family: 宋體; letter-spacing: 0pt;">速度/加速度前饋</span><span style="font-family: 宋體; letter-spacing: 0pt;">+</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">NOTCH</span><span style="font-family: 宋體; letter-spacing: 0pt;">濾波”的控制環算 法</span><span style="font-family: 宋體; letter-spacing: 0pt; vertical-align: super;">[41]</span><span style="font-family: 宋體; letter-spacing: 0pt;">。典型</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span style="font-family: 宋體; letter-spacing: 0pt;">內部</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 宋體; letter-spacing: 0pt;">+陷波濾波器算法原理圖如圖</span><span style="font-family: 宋體; letter-spacing: 0pt;">4-1</span><span style="font-family: 宋體; letter-spacing: 0pt;">所示，表</span><span style="font-family: 宋體; letter-spacing: 0pt;">4-1</span><span style="font-family: 宋體; letter-spacing: 0pt;">表示</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC </span><span style="font-family: 宋體; letter-spacing: 0pt;">的</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">控制算法相關參數</span><span style="font-family: 宋體; letter-spacing: 0pt; vertical-align: super;">[42]</span><span style="font-family: 宋體; letter-spacing: 0pt;">。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: MingLiU; letter-spacing: 0pt;"> </span></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">其中 </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Proportional</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> (1</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">x</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">30 </span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">比例增益</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">)；</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kd</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">:</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Derivative</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> (1</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">x</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">31 </span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">微分增益</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">)；</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Vel</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Feedforward</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">(</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ix</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">32 </span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">速度前饋</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">)；</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ki</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Integral</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">(</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ix</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">33 </span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">積分增益</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">)；</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">IM</span><span id="tpnrxl7j" class="21" style="font-family: 宋體; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Integration</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Mode (Ix34 積分模式)；Kaff：Acceleration Feedforward Gain(Ix35 加速度前饋)。</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle37" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">表</span><span style="font-family: 宋體; letter-spacing: 0pt;">4-1 </span><span id="tpnrxl7j" class="24" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">PM</span><span style="font-family: 宋體; letter-spacing: 0pt;"> </span><span id="tpnrxl7j" class="24" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">AC</span><span style="font-family: 宋體; letter-spacing: 0pt;">的</span><span id="tpnrxl7j" class="24" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">pro</span><span style="font-family: 宋體; letter-spacing: 0pt;">控制算法參數</span></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:476.8500pt; mso-table-layout-alt:fixed; mso-padding-alt:0.0000pt 5.4000pt 0.0000pt 5.4000pt ; "> <tbody> <tr style="height:28.5500pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">變量</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">參數</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">作用</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">數值影響</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:33.1000pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">30</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">p</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">參數，比例增益</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">提供系統所需的剛度</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="bottom" style="width: 177.1pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.3pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">數值越大，系統剛性越好，但太大會 產生振蕩。太小系統會反應延遲。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:32.6500pt; "> <td width="65" valign="center" style="width: 49.45pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">33</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">I</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">參數，積分增益</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">用于消除穩態誤差</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="top" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">與</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">63</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">時間積分誤差有關：如果輸出 飽滿，</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">33</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">無效</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:28.3000pt; "> <td width="65" valign="center" style="width: 49.45pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">31</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="bottom" style="width: 101.5pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">D</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">參數，微分增</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">姐</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.3pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">用于提供足夠的阻尼來保證系 統穩定</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">數值越大，阻尼越大，系統越穩定</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:20.6500pt; "> <td width="65" valign="center" rowspan="2" style="width: 49.45pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">32</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" rowspan="2" style="width: 101.5pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">速度前饋</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">減小由于微分增益所引起的跟</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="bottom" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">對電流環</span><span id="tpnrxl7j" class="28" style="font-family: Arial; letter-spacing: 0pt;">,</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">32</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">應等于或略大于</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">31</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:16.1000pt; "> <td width="198" valign="top" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">隨誤差</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="top" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">對速度環，</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">32</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">應遠大于</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">31</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:28.5500pt; "> <td width="65" valign="center" style="width: 49.45pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">35</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">加速度前饋</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">減小由于系統慣性所帶來的跟 隨誤差</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">反應滯后特別明顯時，增加</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">35</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:55.4500pt; "> <td width="65" valign="center" style="width: 49.45pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">68</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">摩擦增益</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">減小由于摩擦產生的跟隨誤 差，</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">該變量正比于要求速度的符號，速度 為正</span><span id="tpnrxl7j" class="29" style="font-family: MingLiU; letter-spacing: 0pt;">，</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">68</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">被加進輸出，速度為負， </span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">68</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">從輸出中減去。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:18.5000pt; "> <td width="65" valign="center" rowspan="2" style="width: 49.45pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">34</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" rowspan="2" style="width: 101.5pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">積分模式</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">決定積分增益是全程有效還是</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="bottom" style="width: 177.1pt; 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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">34=0</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">積分增益全程有效</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1</span><span id="tpnrxl7j" class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">34= </span><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">1積</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:22.3000pt; "> <td width="198" valign="top" style="width: 148.8pt; padding: 0pt 5.4pt; border-bottom-width: 0.5pt; border-bottom-style: solid; border-bottom-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">只在控制速度為0時才有效</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="top" style="width: 177.1pt; padding: 0pt 5.4pt; border-bottom-width: 0.5pt; border-bottom-style: solid; border-bottom-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="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="26" style="font-family: 宋體; letter-spacing: 0pt;">分增益只有在控制速度為0時有效</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> </tbody> </table> <p class="NewStyle38" style="margin-left: 0pt; text-indent: 0pt; line-height: 11.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="30" style="font-family: 宋體; letter-spacing: 0pt;"> </span></span></p> <p class="NewStyle38" style="margin-left: 0pt; text-indent: 0pt; line-height: 11.5pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="30" style="font-family: 宋體; letter-spacing: 0pt;">2. </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span id="tpnrxl7j" class="30" style="font-family: 宋體; letter-spacing: 0pt;">的</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span id="tpnrxl7j" class="30" style="font-family: 宋體; letter-spacing: 0pt;">調節</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 22.3pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">利用</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span style="font-family: 宋體; letter-spacing: 0pt;">提供的</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PmacTuningPro</span><span style="font-family: 宋體; letter-spacing: 0pt;">軟件對伺服電機進行</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">參數整定調節。 </span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMACTuningPro</span><span style="font-family: 宋體; letter-spacing: 0pt;">提供了 </span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">自動整定功能</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">AutoTuning</span><span style="font-family: 宋體; letter-spacing: 0pt;">，</span><span style="font-family: 宋體; letter-spacing: 0pt;">但在有負載的情況下，自整定并</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle39" style="margin-left: 0pt; text-indent: 0pt; line-height: 22.3pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">不一定能夠達到最理想的狀態，仍需要手動整定伺服環參數。圖</span><span style="font-family: 宋體; letter-spacing: 0pt;">4-2</span><span style="font-family: 宋體; letter-spacing: 0pt;">為</span><span id="tpnrxl7j" class="32" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">參數集成整定</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle39" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">對話框。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">參數可以由計算或者實驗的方法得到，理論計算的方法有一定的缺陷，所以很多 時候還是要利用實驗的方法進行現場整定。最常用的兩種信號源是階躍位置信號和拋物線 速度信號，階躍響應主要是調節系統的</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">參數，而拋物線響應主要是調節系統的動態特 性，包括速度前饋和加速度前饋，通過多次試驗，取其最佳值</span><span style="font-family: 宋體; letter-spacing: 0pt; vertical-align: super;">[43]</span><span style="font-family: 宋體; letter-spacing: 0pt;">。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: MingLiU; letter-spacing: 0pt;"> </span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">以1號電機為例，將其</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt;">參數設置為0，階躍響應曲線整定曲線如圖</span><span style="font-family: 宋體; letter-spacing: 0pt;">4-3</span><span style="font-family: 宋體; letter-spacing: 0pt;">所示：</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">a</span><span style="font-family: 宋體; letter-spacing: 0pt;">)、 </span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">b</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">比例增益</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋體; letter-spacing: 0pt;">從200開始逐漸增加，響應時間</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">（Rise</span><span style="font-family: 宋體; letter-spacing: 0pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Time</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">明顯縮短，當</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋體; letter-spacing: 0pt;">增大到一定 程度時，響應時間又會延長并且出現震蕩，取響應時間最短時的值作為</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋體; letter-spacing: 0pt;">的值。此時， 電機有一定的超調</span><span style="font-family: 宋體; letter-spacing: 0pt;">（</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">OverShoot</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">現象，我們加入</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kd</span><span style="font-family: 宋體; letter-spacing: 0pt;">=2</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋體; letter-spacing: 0pt;">，</span><span style="font-family: 宋體; letter-spacing: 0pt;">超調變為0，響應時間延長， 逐漸減小</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kd</span><span style="font-family: 宋體; letter-spacing: 0pt;">的值，直到響應時間達到</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">b</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">中的值，如</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">c</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">所示，已經比較接近理想值。再 給予</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ki</span><span style="font-family: 宋體; letter-spacing: 0pt;"> </span><span style="font-family: 宋體; letter-spacing: 0pt;">一個較小值時，超調由0.6%降為0.1%，如</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">d</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">所示，此時響應時間達到最小，帶 寬</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">（Natural</span><span style="font-family: 宋體; letter-spacing: 0pt;"> </span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Freq</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">最大，超調接近于0,達到系統的理想狀態。</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋體; letter-spacing: 0pt;">拋物線信號響應曲線整定見圖4-5，圖</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">a</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">中</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span style="font-family: 宋體; letter-spacing: 0pt;">為零時，伴隨誤差（圖中藍色線</span><span style="font-family: 宋體; letter-spacing: 0pt;">）</span><span style="font-family: 宋體; letter-spacing: 0pt;">約 為</span><span style="font-family: 宋體; letter-spacing: 0pt;">300</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">cts</span><span style="font-family: 宋體; letter-spacing: 0pt;">,</span><span style="font-family: 宋體; letter-spacing: 0pt;">伴隨誤差線與指令速度線同相同位。加入速度前饋，令</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span style="font-family: 宋體; letter-spacing: 0pt;">=10000,</span><span style="font-family: 宋體; letter-spacing: 0pt;">可以發現, 此時伴隨誤差線反向，如圖</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">b</span><span style="font-family: 宋體; letter-spacing: 0pt;">)。</span><span style="font-family: 宋體; letter-spacing: 0pt;">需取其中間值，使伴隨誤差位于0附近，如圖</span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">c</span><span style="font-family: 宋體; letter-spacing: 0pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt;">所示， 此時伴隨誤差主要是由系統慣性帶來，最大誤差集中發生拋物線加速度最大處，逐漸加入 </span><span id="tpnrxl7j" class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kaff</span><span style="font-family: 宋體; letter-spacing: 0pt;">可以減小這類誤差</span><span style="font-family: 宋體; letter-spacing: 0pt; vertical-align: super;">[44]</span><span style="font-family: 宋體; letter-spacing: 0pt;">。由于系統存在摩擦，還需要加入適當的摩擦前饋，但摩擦前饋</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span><span style="font-size: small;"><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">，</span><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">最終結果如圖</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">d</span><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">)</span><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">所示，最大伴隨誤</span></span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span><span style="font-size: small;"><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">相等為止，可以根據曲線誤差的方向適當調整 差不超過</span><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">80</span><span id="tpnrxl7j" class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">cts</span><span id="tpnrxl7j" class="33" style="font-family: 宋體; letter-spacing: 0pt;">。</span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.35pt;"> </p> <p 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