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采用三环控制方式设计了一个直流伺服控制系统。在转速、电流双闭环调速系统的基础上,增设了一个位置控制环。为了保证动态响应速度和定位时不产生震荡,电流环和速度环均采用PI调节,位置环采用P调节。采用MATLAB及SIMULINK软件平台对设计的直流伺服控制系统进行了仿真。结果表明,当输入单位阶跃信号时,得到不同位置调节器参数K下的阶跃响应。阶跃响应分析表明,随着K值的增大,系统的响应加快,阻尼程度减小;系统动态性能仿真说明,超调量σ%从无到有,调节时间t_s、上升时间t_r逐渐减小。
Using the three-loop control method designed a DC servo control system. In the speed, current double closed-loop speed control system, based on the addition of a position control loop. In order to ensure that the dynamic response speed and positioning do not produce oscillation, the current loop and speed loop are adjusted by PI and the position loop by P. The design of DC servo control system was simulated by using MATLAB and SIMULINK software platform. The results show that when the unit step signal is input, the step response under different position controller parameters K is obtained. The step response analysis shows that with the increase of K value, the response of the system is accelerated and the damping degree is reduced. The simulation of the system dynamic performance shows that the overshoot σ% decreases gradually from zero, the adjustment time t_s and the rise time t_r .