二质量伺服系统的pid仿真控制

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1、学号：常州大学毕业设计（论文）（2012届）题目学生学院专业班级校内指导教师专业技术职务校外指导老师专业技术职务二○一二年六月二质量伺服系统的PID仿真控制摘要：PID控制是最早发展起来的控制策略之一,由于其算法简单、稳定性能好、可靠性高,能为许多控制对象提供比较满意的控制性能,被广泛应用于过程控制和运动控制中,尤其是用于可建立精确数学模型的确定性控制系统。伺服系统可视为由电机、纯惯性负载以及联结二者的等效传递轴所组成的三质量系统。考虑到传动轴的转动惯量相对于负载的转动惯量而言很小,而且其质量分布在轴的长度上,因此可以忽略,于是三质量系统可以简化为二质量系统。本文对二质

2、量伺服系统的PID控制进行了仿真研究。在Simulink仿真环境中对二质量伺服系统进行仿真。最终仿真结果表明：二质量伺服系统PID控制具有无超调、响应快且较好的稳定性的特点,能够有效地克服动态误差和缩短调节过程时间。关键词：二质量伺服系统；PID控制；simulink仿真IVPIDsimulationoftwo-massservosystemcontrolAbstract：PIDcontrolisoneoftheearliestdevelopedcontrolstrategy.Duetoitssimplealgorithm,goodstabilityandhighrel

3、iability,itcanprovidemanyofthecontrolobjectwithsatisfactorycontrolperformance.Itiswidelyusedinprocesscontrolandmotioncontrol,particularlytoestablishaprecisemathematicalmodelofthedeterministiccontrolsystem.Themotorservosystemcanbeseemedasathreequalitysystemcomposedofamotor，apureinertialoa

4、dandequivalenttransferaxiswhichlinksthemotorandtheload.Takingintoaccountthemomentofinertiaofthedriveshaftisverysmallfortheloadmomentofinertiaanditsmassdistributionisonthelengthoftheshaft,itcanbeignored.Sothree-masssystemcanbesimplifiedtotwoqualitysystems.Thisarticleexpoundsasimulationstu

5、dyonPIDcontroloftheservosystemofthetwoquality.SimulatetheservosystemofthetwoqualitybySimulink.ThefinalsimulationresultsshowthatPIDcontrolofservosystemoftwoqualityhasthecharacteristicsofnoovershoot,fastresponseandbetterstability.Anditcaneffectivelyovercomethedynamicerrorandshortenthetimeo

6、ftheadjustmentprocess.Keywords:servosystemoftwoquality;PIDcontrol;simulinkIV摘要·······················································································································································Ⅰ目次························································

7、·······························································································Ⅲ1绪论11.1伺服系统简介11.1.1伺服系统的概念11.1.2伺服系统的应用11.1.3伺服系统的发展31.1.4伺服系统控制策略简介61.2二质量伺服系统简介61.3本课题的主要研究工作72PID控制简介72.1PID控制概述72.2PID控制算法82.3PID调节方法112.4PID控制的实现123simulink仿真模型简介133.1simu