843 鑷嫊(d貌ng)鎺у埗鍘熺悊寰�(f霉)缈�(x铆)澶х侗

涓€锛�绺介珨瑕佹眰

鏈绋嬭姹傚(xu茅)鐢熸繁鍒婚牁(l菒ng)鏈�(hu矛)鎺у埗绯荤当(t菕ng)鐨勫熀鏈師鐞嗭紝鎺屾彙鍠几鍏ュ柈杓稿嚭銆佺窔鎬у畾甯搁€ｇ簩(x霉)鎺у埗绯荤当(t菕ng)鐨勫父鐢ㄥ垎鏋愯垏缍滃悎鏂规硶銆傝兘澶犲缓绔嬬窔鎬у畾?锛熷垈钁″埌y(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛屽皪(du矛)绨″柈鐨勭窔鎬у畾甯哥郴绲�(t菕ng)鑳藉鍒嗗垾閲囩敤鏅�(sh铆)鍩熷垎鏋愭硶銆侀牷鐜囬熆鎳�(y墨ng)娉曞拰鏍硅粚璺℃硶閫�(j矛n)琛屽垎鏋愯垏缍滃悎銆傝兘澶犻€�(j矛n)琛岄噰妯ｆ帶鍒剁郴绲�(t菕ng)鐨勫缓妯″拰鎬ц兘鍒嗘瀽銆傛帉鎻￠潪绶氭€ф帶鍒剁郴绲�(t菕ng)鐨勫熀鏈垎鏋愭柟娉�銆�

浜岋紟鑰冭│鑼冨湇銆佽榛�(di菐n)

1.鑷嫊(d貌ng)鎺у埗鐨勫熀鏈蹇�                                                                        

锛�1锛�鑷嫊(d貌ng)鎺у埗鐨勫熀鏈蹇�锛涢枊鐠�(hu谩n)銆侀枆鐠�(hu谩n)锛堝弽楗嬶級鎺у埗绯荤当(t菕ng)鐨勫師鐞嗗強鐗归粸(di菐n)锛�

锛�2锛�鑷嫊(d貌ng)鎺у埗绯荤当(t菕ng)鐨勫垎椤烇紱鑷嫊(d貌ng)鎺у埗绯荤当(t菕ng)鐨勬(g貌u)鎴�锛涘皪(du矛)鑷嫊(d貌ng)鎺у埗绯荤当(t菕ng)鐨勫熀鏈姹傘€�

2.鎺у埗绯荤当(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)鎻忚堪                                     

锛�1锛夋帶鍒剁郴绲�(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷鍙婂缓绔嬫柟娉曪紱闈炵窔鎬ф暩(sh霉)瀛�(xu茅)妯″瀷鐨勫井鍋忕窔鎬у寲锛�

锛�2锛夊偝閬炲嚱鏁�(sh霉)銆佸吀鍨嬬挵(hu谩n)绡€(ji茅)銆佹帶鍒剁郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)绲�(ji茅)妲�(g貌u)鍦�锛�

锛�3锛夊弽楗嬫帶鍒剁郴绲�(t菕ng)鐨勫偝閬炲嚱鏁�(sh霉)锛�

锛�4锛夋帶鍒剁郴绲�(t菕ng)鐨勯牷鐜囬熆鎳�(y墨ng)鐗规€у強琛ㄧず娉曪紝濡傞牷鐜囩壒鎬у嚱鏁�(sh霉)銆佷集寰凤紙Bode锛�鍦栧拰濂堝鏂壒锛�Nyquist锛夊湒銆�

3. 鎺у埗绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭€у垎鏋�                                                                  

锛�1锛夌┅(w臎n)瀹氭€х殑瀹氱京锛�

锛�2锛夊嫗鏂紙Routh锛夊垽鎿�(j霉)锛�Nyquist鍒ゆ摎(j霉)锛�Bode鍒ゆ摎(j霉)锛�

锛�3锛�闈炴渶灏忕浉浣嶇郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€у垎鏋�銆�

4. 绶氭€у畾甯搁€ｇ簩(x霉)鎺у埗绯荤当(t菕ng)鐨勯亱(y霉n)鍕�(d貌ng)鍒嗘瀽                                                         

锛�1锛�鏅�(sh铆)鍩熷垎鏋愭硶锛氭帶鍒剁郴绲�(t菕ng)鐨勭┅(w臎n)鎱�(t脿i)瑾ゅ樊锛屽吀鍨嬩俊铏�(h脿o)浣滅敤涓嬬殑绌�(w臎n)鎱�(t脿i)瑾ゅ樊鍒嗘瀽锛屾摼鍕�(d貌ng)淇¤櫉(h脿o)浣滅敤涓嬬殑绌�(w臎n)鎱�(t脿i)瑾ゅ樊鍒嗘瀽鍙婃姂鍒�锛涙帶鍒剁郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鎬ц兘鎸囨(bi膩o)锛涗竴闅�銆佷簩闅庣郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)闊挎噳(y墨ng)鍒嗘瀽锛涗富灏�(d菐o)妤甸粸(di菐n)鍜岄珮闅庣郴绲�(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)闊挎噳(y墨ng)鍒嗘瀽锛涢枆鐠�(hu谩n)鍌抽仦鍑芥暩(sh霉)闆舵サ榛�(di菐n)鍒嗗竷灏�(du矛)鍕�(d貌ng)鎱�(t脿i)闊挎噳(y墨ng)鐨勫奖闊裤€�

锛�2锛�鏍硅粚璺℃硶锛氬父瑕�(gu墨)鏍硅粚璺″強寤ｇ京鏍硅粚璺★紙闆跺害鏍硅粚璺�銆佸弮閲忔牴杌岃贰锛�锛涘熀浜庢牴杌岃贰鍦栫殑绯荤当(t菕ng)鎬ц兘鍒嗘瀽鑸囦及绠楋紱鏍硅粚璺℃硶鏍℃銆�

锛�3锛�闋荤巼闊挎噳(y墨ng)娉曪細绌�(w臎n)瀹氳搴︾殑瑷�(j矛)绠�锛涘緸闁嬬挵(hu谩n)闋荤巼鐗规€ц▓(j矛)绠楅枆鐠�(hu谩n)绯荤当(t菕ng)鐨勫嫊(d貌ng)鎱�(t脿i)鎬ц兘锛涗簩闅庣郴绲�(t菕ng)鏅�(sh铆)鍩熻垏闋诲煙鎬ц兘鐨勫皪(du矛)鎳�(y墨ng)闂�(gu膩n)绯伙紱闁嬬挵(hu谩n)灏�(du矛)鏁�(sh霉)闋荤巼鐗规€т綆銆佷腑銆侀珮闋绘鐗瑰緛鑸囬枆鐠�(hu谩n)绯荤当(t菕ng)鎬ц兘鐨勯棞(gu膩n)绯�銆�

5. 绶氭€у畾甯搁€ｇ簩(x霉)鎺у埗绯荤当(t菕ng)鐨勬牎姝�                                               

锛�1锛�鏈熸湜闁嬬挵(hu谩n)灏�(du矛)鏁�(sh霉)闋荤巼鐗规€х殑瑷�(sh猫)瑷�(j矛)锛堚€滀笁闋绘鈥濆師鍓囷級锛�

锛�2锛�涓茶伅(li谩n)鏍℃锛堣秴鍓嶆牎姝�銆佹化鍚庢牎姝�銆佹化鍚�-瓒呭墠鏍℃銆�PID鏍℃锛�锛�

锛�3锛�鍙嶉鏍℃锛�

锛�4锛�寰�(f霉)鍚堟帶鍒惰垏鍓嶉鏍℃銆�

6.閲囨ǎ鎺у埗绯荤当(t菕ng)

锛�1锛�閲囨ǎ鎺у埗绯荤当(t菕ng)鐨勫熀鏈蹇佃垏鑴堟矕鍌抽仦鍑芥暩(sh霉)锛�

锛�2锛�閲囨ǎ鎺у埗绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭€у垎鏋�锛�

锛�3锛�閲囨ǎ鎺у埗绯荤当(t菕ng)鐨勭┅(w臎n)鎱�(t脿i)瑾ゅ樊鍒嗘瀽锛�

锛�4锛�閲囨ǎ鎺у埗绯荤当(t菕ng)鐨勬毇鎱�(t脿i)鎬ц兘鍒嗘瀽銆�

7.闈炵窔鎬ф帶鍒剁郴绲�(t菕ng)

锛�1锛�闈炵窔鎬х郴绲�(t菕ng)鐨勫熀鏈蹇�銆佹暩(sh霉)瀛�(xu茅)鎻忚堪銆佸垎椤�銆佺壒榛�(di菐n)鍜屽父鐢ㄧ爺绌舵柟娉�锛�

锛�2锛�闈炵窔鎬х郴绲�(t菕ng)鐨�鎻忚堪鍑芥暩(sh霉)娉�锛岃嚜婵€鎸暕鐨勬蹇靛強鍒ゅ垾锛�

锛�3锛�闈炵窔鎬х郴绲�(t菕ng)鐨勭浉骞抽潰娉�銆�