湖南大学-大三暑假-机电设计试编.docx

第三章 SIMULINK仿真3.1 建立仿真模型根据图2-1所示的控制系统框图，在SIMULINK中选择相应的控件，用数学模型代替相应的食物环节，建立控制系统的仿真模型。如下图3-1所示：图3-1 直流伺服电机位置控制系统SIMULINK仿真模型图其中PID子系统模型图如下图3-2所示：图3-2 PID子系统仿真模型图为了便于分析观察PID参数对输出的影响，以及方便参数整定，我将建立两个系统，使用相同输入，并用一个示波器展示出来观察，其系统仿真模型如图3-3所示：图3-3直流伺服电机位置控制系统SIMULINK仿真模型图（输出信号对比）3.2 阶跃信号输入的PID参数整定通过对理论课上，PID参数整定方法的复习，按照课堂总结的口诀：参数整定找最佳，从小到大顺序查。先是比例后积分，最后再把微分加。曲线振荡很频繁，比例度盘要放大。曲线漂浮绕大弯，比例度盘往小扳。曲线偏离回复慢，积分时间往下降。曲线波动周期长，积分时间再加长。曲线振荡频率快，?先把微分降下来。动差大来波动慢，微分时间应加长。理想曲线两个波，?前高后低四比一。一看二调多分析，调节质量不会低。对于PID参数整定，我的方法是先调节比例参数，从小到大，直到输出能够很快做出响应并且又一定超调，最终能够稳定的时候，保持比例参数P不变，调节积分参数，渐渐消除静态偏差，如此慢慢使得PID的参数准确使的输出能够较好的响应，做到快、准、稳。仿真对比曲线如下图3-4所示：图3-4 阶跃信号输入输出响应曲线输出数据如下：000000111460.0295870.0592230.0973570.129350.189440.257740.296190.431280.463520.630870.739440.798180.94650.965511.06061.13281.30021.46751.63491.74251.80221.951.96952.06712.13682.30422.47152.63892.74522.80622.95322.97353.07483.14083.30823.47553.64293.74683.81023.95573.97754.08654.14484.31224.47954.61164.64684.81424.92354.94734.94734.94734.98155.01575.08415.14885.20925.26965.31615.37845.44075.48355.54555.60765.65085.71295.77495.81815.88025.94225.98556.04756.10956.15286.21486.27676.32016.38216.4446.48756.54946.61146.65486.71676.77876.82216.88416.9466.98957.05147.11337.15687.21877.28067.32417.38617.4487.49157.55347.61537.65887.72077.78277.82617.88817.957.99358.05548.08758.08758.14958.16088.21638.26988.32328.36418.40368.4578.47318.51138.54818.59768.60968.64598.68098.72718.73388.76648.80048.84698.87798.90778.94998.97859.0069.04369.079.09559.12889.15339.17689.20659.2299.25079.27719.2989.3189.34149.36079.37929.39999.41779.43489.45329.46969.48549.50179.51699.53149.54599.55989.57339.5869.59899.61139.62269.63459.6469.65599.66699.67749.68629.69639.70619.71379.72319.73219.73889.74759.75589.76179.76969.77739.78259.78989.79689.80149.8089.81449.81869.82479.83059.83439.83989.84519.84869.85369.85849.86169.86619.87069.87349.87769.88169.88419.88799.89169.89399.89749.90079.90299.9069.90919.9119.91399.91669.91849.9219.92359.92519.92759.92989.93129.9334