运动控制Motion Control Systerm.doc

Motion control is a sub-field of automation, in which the position or velocity速度 of machines are controlled using some type of device such as a hydraulic pump液压泵, linear actuator直线驱动器, or an electric motor电动机. 第一页 图一 图中，Gc（s）为调节器传递函数Regulator transfer function；Gv（s）为执行器传递函数Actuator transfer function；Gp（s）为对象控制通道传递函数Object control channels transfer function；Gd（s）为对象干扰通道传递函数Object interference channels transfer function；Gm（s）为检测变送器传递函数sensor and transmitter transfer function；r为设定值set value；ym为被调量controlled variable的测量信号measurement signal；y为被调量controlled variable，又称输出量；μ为执行器输出ctuator ；u为调节器输出egulator；D为干扰interference ；e为偏差deviation，e=r-ymIn terms of regulator, My teacher mainly introduce the PID controller. A proportional比例–integral积分–derivative 微分controller (PID controller) is a generic control loop控制回路 feedback mechanism回馈机制 (controller) widely used in industrial control systems–a PID is the most commonly used feedback controller. A PID controller calculates an error value as the difference between a measured process variable过程变量 and a desired setpoint. The controller attempts to minimize the error by adjusting调整 the process control inputs. The PID controller calculation (algorithm) involves three separate constant不变的parameters, and is accordingly sometimes called three-term control: the proportional, the integral and derivative values, denoted P, I, and D. Heuristically启发的, these values can be interpreted in terms of time: P depends on the present error, I on the accumulation积累 of past errors, and D is a prediction of future errors, based on current rate of change.[1] The weighted sum 加权和of these three actions is used to adjust the process via a control element 控制元件such as the position of a control valve,控制阀 or the power supplied to a heating element. Kp: Proportional gain, a tuning parameter调整参数 Ki: Integral gain, a tuning parameter Kd: Derivative gain, a tuning parameter e: Error = SP ? PV t: Time or instantaneous time (the present) Proportiona