摘要
针对传统开环位置控制的不足,根据实际系统设计的要求,通过上位机、控制卡、伺服系统和位置传感器构建了位置闭环系统。先采用PID中的纯比例调节,得到的控制系统运行稳定。为了进一步提升控制效果,在系统中加入了前馈微分环节,通过理论模型运算,设置合理的微分系数,可使系统在恒速信号输入下完全消除位置跟踪的稳态误差,且提升起步阶段的响应速度,提高了控制效果。
This paper makes analysis of the drawbacks of the traditional open-loop position control, in accordance with the requirements of the actual controlsystem, through the host computer, control cards, servo systems and position sensors,we build a position closed-loop system. At first, by the method of proportional control, the control system is running stably. To enhance the control effect of the system, we add a forward-feed differential correction link, byanalyzing the theoretical model,setting a reasonable difierential parameter. We can make the system to eliminate the steady-state position tracking errorcompletely when input signal is at the constant speed, and enhance the response speed at the start moment. All of thetheoretical analysis has been verified by experiments at last.
出处
《机电一体化》
2012年第12期52-55,共4页
Mechatronics
