共查询到19条相似文献,搜索用时 93 毫秒
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为了改变传统的人工检测和调整磨床的加工现状,稳定和提高无心磨床的工件加工质量和精度,提出了无心通磨加工控制的自适应算法.结合无心通磨加工的特点,基于工件误差序列,构造了包含非平稳干扰的无心通磨加工误差的差分方程数学模型;以系统稳定性为极点配置准则,并把参数估计和极点配置算法相结合,设计了控制无心磨削加工精度的极点配置自校正控制器.实验结果表明:同模糊PID算法相比,采用极点配置自校正控制算法的系统性能优于模糊PID算法,使系统加工精度和稳定性得到了明显的提高. 相似文献
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针对成像跟踪器低采样率帧频特性对光电跟踪伺服系统控制性能的影响,提出了一种基于输入多采样率控制原理的满意PID控制器.应用输入多采样率控制原理,提高了控制系统的稳定度,减小了跟踪器的低采样率帧频特性对系统跟踪性能的影响.将输入多采样率PID控制器的参数求解转换为满足极点约束和方差约束的多目标满意优化问题,从而使伺服系统的跟踪性能满足指定的快速性和精度指标要求.对所提出方法的有效性进行了实验验证,结果表明:在成像跟踪器的输出帧频为25Hz的条件下,所提出的输入多采样率满意PID控制器能够减小光电跟踪伺服系统工作模式切换带来的超调和振荡,对0.5Hz正弦信号的动态跟踪精度能够提高2个像素点;能够有效降低成像跟踪器的低采样率帧频特性对伺服系统控制性能的影响,提高了系统跟踪目标的稳定性、动态性和跟踪精度. 相似文献
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在建立倒立摆系统控制对象数学模型的基础上,详细介绍了单级单级控制器的设计过程。首先,采用PID控制算法和状态空间极点配置法对倒立摆进行控制器设计,然后采用最优控制算法设计倒立摆的控制器,最后设计一种基于自适应的控制器。最终采用Matlab软件进行仿真验证了设计结果,证明了自适应的有效性。 相似文献
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针对太阳光跟踪伺服系统中应用的传统PID控制过程中的一些问题,本文通过对自适应模糊PID控制系统的分析,设计了双轴跟踪伺服系统自适应模糊PID控制器,并在Simulink环境中建立方位角跟踪传动机构仿真模型且完成仿真。仿真结果表明,太阳光跟踪伺服系统自适应模糊PID控制器较传统PID控制器具有较强的稳定性、适应性与鲁棒性,这在太阳光跟踪伺服系统控制领域具有重要的实用价值与应用空间。 相似文献
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PID控制器参数的自动整定 总被引:5,自引:0,他引:5
介绍了PID控制器设计的原理,针对某控制对象稳定且其技术要求已知的伺服系统,设计了PID控制器的参数自动调整软件,使得PID参数调整方便快捷,最后通过实例验证了方法的正确性。 相似文献
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为提高压电微动平台的位移输出精度,设计极点配置比例、积分、微分(PID)控制器对其进行控制。首先,在对压电执行器进行电学特性、机电特性分析的基础上,建立了压电执行器的数学模型;其次,在对平台进行受力分析、运动分析的基础上,建立了平台的动力学模型;然后,在保持平台极点虚部不变,且将系统闭环阻尼比取为1的情况下,将平台极点沿着平行于实轴的方向平移,设计出平台的PID反馈控制器;最后,实验验证了所设计控制器的有效性。实验结果表明,所设计的控制器可使平台具有较快的响应,在不考虑传感器噪声水平的情况下,平台在控制系统作用下的定位误差基本为0。 相似文献
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This paper presents the discrete-time LQG/LTR design of a disk drive track following servo system. The servo compensator designed through linear-quadratic Gaussian control combined with loop transfer recovery (LQG/LTR) consists of a Kalman filter for state estimation and state feedback for control. The desired tracking servo performance is first formulated through a frequency shaped return ratio of the Kalman filter and subsequently recovered at the output of the plant/compensator loop through the automatic design of a discrete-time linear quadratic (LQ) regulator. Particular attention has been given to modeling the calculation time delay and bias force estimation. The excellent robustness and performance characteristics of a continuous time LQG/LTR design are theoretically unachievable due to the extremely low sampling rate and nonminimum phase plant characteristics. However, both time and frequency domain simulations show that reasonable stability margins and performance can still be recovered. This technique nearly eliminates all the trial and error typical of a conventional pole placement design of a similar system. The direct discrete-time design can handle extremely low sampling rates associated with embedded servo systems. The technique can also be used for designing multi-rate and multi-input servo systems 相似文献
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飞机俯仰角是飞机纵向运动中最基本的控制模态,实现对其控制难度较大。针对飞行器俯仰角增量和舵面偏移量构成的四阶系统简化后的一阶积分延时系统,文中提出了一种二自由度PID控制算法。该算法基于多主导极点配置法与直接综合法,将设定点滤波器与控制器分开设计,并以解析式的形式给出整定律。通过算法仿真验证可知,文中提到的方法能较好地应用于飞行器俯仰角的四阶系统,并且具有优良的扰动抑制性能以及更好的伺服性能和鲁棒性。 相似文献
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A decoupled control design structure and discrete time pole placement design method are proposed for MEMS-based dual-stage servo control design in magnetic disk drives. Dual-stage track following controllers are designed using a decoupled three-step design process: the voice coil motor (VCM) loop design, the microactuator (MA) inner loop design, and the MA outer loop design. Both MIMO (when the MA relative position sensing is available) and SIMO (when the MA relative position sensing is not available) designs are considered. The effect of MA resonance mode variations on the stability and performance of the controllers are analyzed. Self-tuning control and online identification of the MA model are developed to compensate for the variations in the MA's resonance mode 相似文献
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Robust loop shaping-fuzzy gain scheduling control of a servo-pneumatic system using particle swarm optimization approach 总被引:2,自引:0,他引:2
In this paper, a new technique called robust loop shaping-fuzzy gain scheduled control (RLS-FGS) is proposed to design an effective nonlinear controller for a long stroke pneumatic servo system. In our technique, a nonlinear dynamic model of a long stroke pneumatic servo plant is identified by the fuzzy identification method and is used as the plant for our design. The structure of local controllers is selected as PID control which is proven by many research works that this type of control has many advantages such as simple structure, well understanding, and high performance. The proposed technique uses particle swarm optimization (PSO) to find the optimal local controllers which maximize the average stability margin. In addition, performance weighting function which is normally difficult to obtain is automatically determined by PSO. By the proposed technique, the RLS-FGS controller can be designed, and the structure of local controllers is still not complicated. As seen in the simulation and experimental results, our proposed technique is better than the classical gain scheduled PID controller tuned by pole placement and the conventional fuzzy PID controller tuned by ISE method in terms of robust performance. 相似文献
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Li Yue Zhao XiaohuiThe work is Supported by National Science Foundation under grant 《中国邮电高校学报(英文版)》1999,6(1)
1IntroductionRobuStadaptivecontroltheoryisaveryimpo~researchsubject.Inrecentyearsmanypapersconcernedaboutrobustnessoftheadaptivecoalalsystemshavebeenpresented.Thereasonsforthisresearchtrendarethatmanyconventionaladaptivecolltrollersfailtodealwiththes... 相似文献
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《Mechatronics》2015
In a hydraulic control system (herein, termed a major control loop), a proportional directional control (PDC) valve with spool position feedback may work in a minor (or inner) control loop. In this study the authors propose control designs to improve the performance of the PDC valve control loop (a minor control loop). At first, the mathematical model for the PDC valve is developed through an experimental identification process. Then, a dead-zone compensator that facilitates jumping of the overlap zone in spool/sleeve combination is devised and applied. A reference input following controller (including PI-D and feed-forward controller) that enables robust control of the PDC valve under disturbances is devised using the pole placement method and the zero placement method. Subsequently, an input shaping filter is incorporated into the devised control system to improve the reference following characteristic in high frequency range. Finally, the effectiveness of the proposed control design is verified experimentally. 相似文献
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针对贴片机伺服系统数学模型未知,不能直接测量到频域性能的难题.架构基于贴片机的伺服辨识系统,其中包括激励信号的产生与加载、数据采集、控制对象辨识以及伺服系统控制性能分析等功能。使用伺服辨识系统可以辨识出伺服系统的数学模型,定量分析伺服系统的控制性能。同时,为直观调试伺服系统控制参数,应用先进伺服控制策略提供了条件;为提高贴片机的贴装效率和精度提供了有效研究手段。 相似文献