PID控制小功率伺服系统的建模与控制.docVIP

PID控制小功率伺服系统的建模与控制 摘要伺服系统的应用非常广泛，它用来控制被控对象的转交(或位移)，使其能自动地、连续地、精确地复现输入指令的变化规律。 本文从直流位置伺服系统的组成结构和工作原理出发，通过数学和物理方程的推导，得到每个环节传递函数，建立了整个系统数学模型。完成了系统的动态分析和系统仿真。 PID控制器算法简单、鲁棒性好、可靠性高，被广泛应用于工业过程控制尤其适用于可建立精确模型的确定性控制系统。文中分别采用了极点配置法和临界灵敏度整定法确定了PID控制器参数，进一步完善了伺服系统的性能。然后，通过试凑法分析了P控制、PI控制和PID控制下不同系统响应曲线，并且与无PID控制时的系统响应曲线做了比较，分析了比例、积分和微分各个调节器的作用，在仿真中得到了很好的控制效果。结果表明，该系统基本满足设计要求。10201 关键词直流位置伺服系统数学模型PID控制仿真分析 毕业设计说明书（论文）外文摘要 TitleModeling and control of the servo system for low-power Abstract Servo system is widely used, It is used to control the controlled object referred to (or displacement) So that it can automatically, continuously and accurately complex changes in the law enter the command. From the starting composition and working principle of the DC position servo system,to establish the mathematical model of the whole system of every aspect of the transfer function through the derivation of the mathematics and physics equations. PID controller algorithm is simple, robust and high reliability,it is widely used in industrial process control, especially suitable for an deterministic control system can create an accurate model.Respectively, using the pole placement method and critical sensitivity titration to determine the PID controller parameters, to further improve the performance of the servo system.Then, through trial and error analysis of the P control, PI control and PID control system response curve, and PID control system response curves were compared with a proportional, integral and differential of each regulator#39;s role inthe simulation has been a good control effect. The results show that the system basically meet the design requirements. 2.5.1位置环的组成16 2.5.2位置反馈环节的传递函数17 2.6系统的数学模型17 2.6.1系统的方框图结构17 2.6.2方框图结构化简18 3系统的仿真分析20 3.1系统的特性20 3.1.1时域响应分析20 3.1.2系统的时域特性21 3.2PID控制器的设计21 3.2.1PID控制原理21 3.2.2PID参数整定的原理和方法22 3.2.3PID功控制器的参数确定25 3.2.4PID控制器的设计26 4Simulink仿真分析34 4.1Simulink简介及在过程仿真中的优势34 4.2Simulink建模和仿真35 结论39 致谢40 参 考 文 献41 1绪论 近年来，随着电力电子技术的发展及其应用技术