鍙嬫儏鎻愮ず锛氭湰绔欐彁渚涘叏鍦�400澶氭墍楂樼瓑闄㈡牎鎷涙敹纰╁+銆佸崥澹爺绌剁敓鍏ュ鑰冭│姝峰勾鑰冪爺鐪熼銆佽€冨崥鐪熼銆佺瓟妗�锛岄儴鍒嗗鏍℃洿鏂拌嚦2012骞达紝2013骞�锛涘潎鎻愪緵鏀惰不涓嬭級銆� 涓嬭級娴佺▼锛� 鑰冪爺鐪熼 榛炴搳鈥�鑰冪爺瑭﹀嵎鈥濃€濅笅杓�; 鑰冨崥鐪熼 榛炴搳鈥�鑰冨崥瑭﹀嵎搴�鈥� 涓嬭級
鍏ㄥ湅纰╁+鐮旂┒鐢熷叆瀛歌€冭│澶х侗 鑰冭│绉戠洰锛氥€婃帶鍒跺伐绋嬪熀绀庛€� 涓€銆佽€冭│绺介珨瑕佹眰 銆婃帶鍒跺伐绋嬪熀绀庛€嬫槸涓€闁€宸ョ椤炲皥妤�(y猫)鐨勫皥妤�(y猫)鍩虹瑾茬▼銆傝┎瑾茬▼浠ユ暩(sh霉)瀛�銆佺墿鐞嗗強鏈夐棞瀛哥 鐐哄叾鐞嗚珫鍩虹锛屼互姗熸宸ョ▼涓湁闂滅郴绲�(t菕ng)鍕曞姏瀛哥偤鍏舵娊璞�銆佹鎷垏鐮旂┒鐨勫皪璞�锛岄亱鐢ㄤ俊鎭殑鍌� 閬�銆佽檿鐞嗚垏鍙嶉閫茶鎺у埗閫欎竴姝g⒑鐨勬€濈董鏂规硶鑸囩従(xi脿n)璞�锛屽湪鏁�(sh霉)瀛稿熀绀庤绋嬭垏灏堟キ(y猫)瑾茬▼涔嬮枔鏋惰捣 涓€閬撴⿱姊�锛屽皣鍏╄€呯穵瀵嗙祼(ji茅)鍚堣捣渚�銆傝┎瑾茬▼蹇呴爤姒傛嫭宸ョ▼瀵﹁笎锛岀穵瀵嗙祼(ji茅)鍚堝皥妤�(y猫)瀵﹂銆� 瑭茶绋嬭姹傚鐢熸帉鎻★細绯荤当(t菕ng)鐨勫井鍒嗘柟绋�锛屽偝閬炲嚱鏁�(sh霉)锛屽偝閬炲嚱鏁�(sh霉)鏂规鍦栧強鍏剁啊鍖�锛岀浉浼煎師 鐞�锛涗竴闅庣郴绲�(t菕ng)銆佷簩闅庣郴绲�(t菕ng)鐨勬檪闁撻熆鎳夊垎鏋�銆佹€ц兘鎸囨锛岀郴绲�(t菕ng)瑾ゅ樊鍒嗘瀽鑸囪▓绠�锛涢牷鐜囩壒鎬х殑鍩� 鏈蹇佃垏鍌抽仦鍑芥暩(sh霉)鐨勯棞绯�锛屽垎鏋愰牷鐜囩壒鎬х殑鍦栧舰琛ㄧず鈥旀サ鍧愭鍦栵紙Nyquist 鍦栵級銆佸皪鏁�(sh霉)鍧愭 鍦栵紙Bode 鍦栵級锛涙帉鎻� Routh 鍒ゆ摎(j霉)鍜� Nyquist 鍒ゆ摎(j霉)锛涚郴绲�(t菕ng)鐨勬牎姝o細涓茶伅(li谩n)鏍℃涓浉浣嶈秴鍓嶆牎姝c€� 鐩镐綅婊悗鏍℃銆佺浉浣嶆化鍚庘€旇秴鍓嶆牎姝e拰 PID 鏍℃銆� 浜�銆佽€冩煡鐩 鎺у埗宸ョ▼鍩虹鑰冭│鏄偤闀锋槬澶у鎷涙敹姗熸椤炵ⅸ澹爺绌剁敓鑰岃ō缃殑鍏锋湁閬告嫈鎬ц唱(zh矛)鐨勮嚜鍛介 鍏ュ鑰冭│绉戠洰锛屽畠鐨勭洰妯欐槸绉戝銆佸叕骞�銆佹湁鏁堝湴娓│鑰冪敓灏嶆帶鍒跺伐绋嬪熀绀庣殑鍩烘湰姒傚康銆佸熀鏈� 鐞嗚珫鍜屽熀鏈柟娉曠殑鎺屾彙绋嬪害锛屼互閬告嫈鍏锋湁鐧�(f膩)灞�?ji茅)鎽课﹁啲?y艒u)绉€浜烘墠鍏ュ锛岀偤鍦嬪寤鸿ō鍩归(y菐ng)鍏锋湁杓� 寮峰垎鏋愯垏瑙f焙瀵﹂殯鍟忛鑳藉姏鐨勯珮灞ゆ灏堟キ(y猫)浜烘墠銆� 鍏烽珨渚嗚锛岃姹傝€冪敓锛� 1锛庡皪鎺у埗宸ョ▼鍩虹鐨勫熀鏈悊璜�銆佸熀鏈蹇靛拰鍩烘湰鍒嗘瀽鏂规硶鏈夋槑纰虹殑瑾嶈瓨锛� 2锛庤兘澶犵啛绶村湴鍒楀绯荤当(t菕ng)鐨勫井鍒嗘柟绋嬪強鍏跺偝閬炲嚱鏁�(sh霉)锛岄€茶绯荤当(t菕ng)鍌抽仦鍑芥暩(sh霉)鏂规鍦栫啊鍖�锛岀郴绲�(t菕ng) 鐨勭浉浼煎師鐞嗚瓑鏄�锛� 3锛庤兘澶犵啛绶村湴鍒嗘瀽鑸囪▓绠椾竴闅庣郴绲�(t菕ng)鍜屼簩闅庣郴绲�(t菕ng)鐨勬檪闁撻熆鎳夌殑鎬ц兘鎸囨锛岀郴绲�(t菕ng)鐨勮宸垎鏋� 鍙婅▓绠�锛� 4锛庡皪闋荤巼鐗规€х殑鍩烘湰姒傚康鑸囧偝閬炲嚱鏁�(sh霉)鐨勯棞绯汇€侀牷鐜囩壒鎬х殑鍦栧舰琛ㄧず鈥旀サ鍧愭鍦栵紙Nyquist 鍦栵級鍜屽皪鏁�(sh霉)鍧愭鍦栵紙Bode 鍦栵級鏈夋槑纰虹殑瑾嶈瓨锛屽苟鑳藉绲�(ji茅)鍚堝偝閬炲嚱鏁�(sh霉)绻埗锛圔ode 鍦栵級锛� 5锛庤兘澶犵啛绶村湴鎺屾彙 Routh 绌�(w臎n)瀹氭€у垽鎿�(j霉)鍜� Nyquist 绌�(w臎n)瀹氭€у垽鎿�(j霉)锛� 6锛庢帉鎻$郴绲�(t菕ng)鏍℃鐨勫師鐞嗗強鍩烘湰姒傚康锛岃兘澶犲垎鏋愬垽鏂蜂覆鑱�(li谩n)鏍℃涓浉浣嶈秴鍓嶆牎姝c€佺浉浣嶆化鍚� 鏍℃銆佺浉浣嶆化鍚庘€旇秴鍓嶆牎姝e拰 PID 鏍℃锛� 涓夈€佽€冭│褰㈠紡鍜岃│鍗风祼(ji茅)妲�(g貌u) 1.鏈│鍗锋豢鍒嗙偤 150 鍒�锛岃€冭│鏅傞枔鐐� 180 鍒嗛悩銆傜瓟椤屾柟寮忕偤闁夊嵎銆佺瓎瑭︺€� 2.瑭﹀嵎椤屽瀷鐐鸿▓绠楅 锛�1锛夊偝閬炲嚱鏁�(sh霉)锛堟柟妗嗗湒绨″寲銆佺浉浼煎師鐞嗭級20-30锛� 锛�2锛変簩闅庣郴绲�(t菕ng)鐨勬檪闁撻熆鎳夛紙鎬ц兘鎸囨銆佽宸垎鏋愬強瑷堢畻锛�20-30锛� 锛�3锛夊皪鏁�(sh霉)鍧愭鍦栵紙Bode 鍦栵級鐨勭躬鍒� 10-20锛� 锛�4锛夌┅(w臎n)瀹氭€у垽鎿�(j霉)锛圧outh 鍒ゆ摎(j霉)銆丯yquist 鍒ゆ摎(j霉)锛�10-20锛� 锛�5锛変覆鑱�(li谩n)鏍℃锛堢浉浣嶈秴鍓嶆牎姝�銆丳ID 鏍℃锛�10-20锛� 鍥涖€佽€冩煡鍏�(n猫i)瀹� 锛堜竴锛夌窉璜� 1锛庤€冩牳鐭ヨ瓨榛� 鐮旂┒鐨勫収(n猫i)瀹�銆佹柟娉曘€佺洰鐨勫拰鎰忕京 2锛庡熀鏈姹� 浜嗚В锛氭帶鍒跺伐绋嬪熀绀庣殑浠诲嫏銆佺爺绌跺皪璞″強鐮旂┒鏂规硶銆� 鐞嗚В锛氱郴绲�(t菕ng)鐨勫嫊鍔涘鍟忛鐨勫璩�(zh矛)锛岀郴绲�(t菕ng)鐨勫揩閫熸€�銆佺┅(w臎n)瀹氭€у拰婧栫⒑鎬т笁鑰呯殑鐩镐簰闂滅郴銆� 鎺屾彙锛氱敤鈥滅郴绲�(t菕ng)鈥濈殑鏂规硶鍒嗘瀽绯荤当(t菕ng)鐨勫嫊鍔涘鍟忛銆� 锛堜簩锛夌郴绲�(t菕ng)鐨勫偝閬炲嚱鏁�(sh霉) 1锛庤€冩牳鐭ヨ瓨榛� 绯荤当(t菕ng)鐨勬媺姘忚畩鎻涖€佹媺姘忚畩鎻涚殑鍏€嬫€ц唱(zh矛)锛屽弽楗嬬殑姒傚康锛屽偝閬炲嚱鏁�(sh霉)鏂规鍦栧強鍏剁啊鍖栵紝鍌� 閬炲嚱鏁�(sh霉)鐨勭浉浼兼€ц瓑鏄�銆� 2锛庡熀鏈姹� 鐞嗚В锛氬缓绔嬪熀鏈殑寰垎鏂圭▼锛屾媺姘忔閫嗚畩鎻涘強鍏€嬪熀鏈€ц唱(zh矛)鐨勫惈缇�锛屽偝閬炲嚱鏁�(sh霉)鐨勪覆骞惰伅(li谩n) 闂滅郴鍙婂叾鏂规鍦栫啊鍖栵紝鐩镐技鎬ц瓑鏄�銆� 鎺屾彙锛氬偝閬炲嚱鏁�(sh霉)鐨勬柟妗嗗湒绨″寲锛屽熀鏈几鍏ュ嚱鏁�(sh霉)鐨勬媺姘忚畩鎻涘叕寮�锛岀浉浼兼€ц瓑鏄庤▓绠�銆� 锛堜笁锛夌郴绲�(t菕ng)鐨勬檪闁撻熆鎳� 1锛庤€冩牳鐭ヨ瓨榛� 浜岄殠绯荤当(t菕ng)鍠綅闅庤簫杓稿叆鏅傞枔闊挎噳鐨勬€ц兘鎸囨瑷堢畻锛岃宸垎鏋愬強瑷堢畻銆� 2锛庡熀鏈姹� 鐞嗚В锛氭檪闁撻熆鎳夌殑绯荤当(t菕ng)绲勬垚锛岀郴绲�(t菕ng)绌�(w臎n)瀹氭敹鏂傜殑姊濅欢锛屽嫊鎱�(t脿i)鎬ц兘鎸囨鍙婇潨鎱�(t脿i)瑾ゅ樊鐨勫垎鏋愩€� 鎺屾彙锛氬柈浣嶉殠韬嶈几鍏ユ檪闁撻熆鎳夌殑鎬ц兘鎸囨瑷堢畻锛岀┅(w臎n)鎱�(t脿i)瑾ゅ樊鍒嗘瀽鍙婅▓绠�銆� 锛堝洓锛夌郴绲�(t菕ng)鐨勯牷鐜囩壒鎬� 1锛庤€冩牳鐭ヨ瓨榛� 灏囧偝閬炲嚱鏁�(sh霉)璁婃彌鎴愰牷鐜囩壒鎬у嚱鏁�(sh霉)锛屽苟鑳界躬鍒讹紙Nyquist 鍦栵級鍜岋紙Bode 鍦栵級銆� 2锛庡熀鏈姹傦細 鐞嗚В锛氶牷鐜囩壒鎬х殑鍩烘湰姒傚康锛岄牷鐜囩壒鎬ц垏鍌抽仦鍑芥暩(sh霉)鐨勯棞绯�锛岄牷鐜囩壒鎬х殑鍦栧舰琛ㄧず鈥旀サ鍧� 妯欏湒锛圢yquist 鍦栵級鍜屽皪鏁�(sh霉)鍧愭鍦栵紙Bode 鍦栵級鐨勯棞绯�銆� 鎺屾彙锛氭サ鍧愭鍦栫殑绻埗鐗归粸锛岃兘鐔熺反绻埗锛圔ode 鍦栵級銆� 锛堜簲锛夌郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€� 1锛庤€冩牳鐭ヨ瓨榛� 涓昏鏄嚌灏� Routh 绌�(w臎n)瀹氭€у垽鎿�(j霉)鍜� Nyquist 绌�(w臎n)瀹氭€у垽鎿�(j霉)鐨勫垎鏋愬強瑷堢畻銆� 2锛庡熀鏈姹� 鐞嗚В锛氬叐鍊嬪垽鎿�(j霉)鐨勭悊璜栦緷鎿�(j霉)锛孯outh 绌�(w臎n)瀹氭€у垽鎿�(j霉)鍒嗘瀽鐨勬槸闁夌挵(hu谩n)鍌抽仦鍑芥暩(sh霉)鐨勭壒寰佹柟绋�锛� Nyquist 绌�(w臎n)瀹氭€у垽鎿�(j霉)鍒嗘瀽鐨勬槸闁嬬挵(hu谩n)鍌抽仦鍑芥暩(sh霉)鐨勭壒寰佹柟绋�銆侭ode 鍒ゆ摎(j霉)鑸� Nyquist 鍒ゆ摎(j霉)鐨勯棞 绯�銆� 鎺屾彙锛氱啛绶存帉鎻� Routh 绌�(w臎n)瀹氭€у垽鎿�(j霉)鍜� Nyquist 绌�(w臎n)瀹氭€у垽鎿�(j霉)鐨勫垎鏋愭柟娉曞強瑷堢畻銆� 锛堝叚锛夌郴绲�(t菕ng)鐨勬牎姝� 1锛庤€冩牳鐭ヨ瓨榛� 涓昏鏄覆鑱�(li谩n)鏍℃涓浉浣嶈秴鍓嶆牎姝e拰 PID 鏍℃鍏�(n猫i)瀹广€� 2锛庡熀鏈姹� 浜嗚В锛氱郴绲�(t菕ng)涓茶伅(li谩n)鏍℃涓殑鐒℃簮鍙婃湁婧愭牎姝g殑鍘熺悊鍙婃柟娉�锛岃兘澶犲垎鏋愬垽鏂蜂覆鑱�(li谩n)鏍℃涓浉浣� 瓒呭墠鏍℃銆佺浉浣嶆化鍚庢牎姝�銆佺浉浣嶆化鍚庘€旇秴鍓嶆牎姝e拰 PID 鏍℃銆� 鐞嗚В锛氫覆鑱�(li谩n)鏍℃涓浉浣嶈秴鍓嶆牎姝e拰 PID 鏍℃ 浜�銆佸弮鑰冩浉鐩� 銆婃姊板伐绋嬫帶鍒跺熀绀庛€嬬鍏増 妤婂彅瀛愮瓑绶� 銆婅彲涓悊宸ュぇ瀛稿嚭鐗堢ぞ銆� 銆婃帶鍒跺伐绋嬪熀绀庛€嬬帇鐩婄兢銆佸瓟绁ユ澅绶� 銆婃姊板伐妤�(y猫)鍑虹増绀俱€�
鍏嶈铂鑱叉槑锛氭湰鏂囩郴杞�(zhu菐n)杓夎嚜缍�(w菐ng)绲�锛屽鏈変镜鐘�锛岃珛鑱�(li谩n)绯绘垜鍊戠珛鍗冲埅闄わ紝鍙︼細鏈枃鍍呬唬琛ㄤ綔鑰呭€嬩汉瑙€榛�锛岃垏鏈恫(w菐ng)绔欑劇闂溿€傚叾鍘熷壍(chu脿ng)鎬т互鍙婃枃涓櫝杩版枃瀛楀拰鍏�(n猫i)瀹规湭缍�(j墨ng)鏈珯璀夊锛屽皪鏈枃浠ュ強鍏朵腑鍏ㄩ儴鎴栬€呴儴鍒嗗収(n猫i)瀹广€佹枃瀛楃殑鐪熷鎬�銆佸畬鏁存€�銆佸強鏅傛€ф湰绔欎笉浣滀换浣曚繚璀夋垨鎵胯锛岃珛璁€鑰呭儏浣滃弮鑰�锛屽苟璜嬭嚜琛屾牳瀵︾浉闂滃収(n猫i)瀹广€�
|