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0pt;"> 4.1 </span><span class="18" style="line-height: 14pt; font-family: Arial; letter-spacing: 0pt;">PID</span><span style="line-height: 14pt; font-family: 宋体; letter-spacing: 0pt; font-weight: bold;">调试<br /> </span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">基</span></span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋体;">于</span><span class="16" style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 'Times New Roman';">PMAC</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋体;">的运动控制卡的运动控制系统是一个全数字的伺服系统，这样的系统可以 满足高精度和高速度的要求。闭环伺服系统由位置环和速度环组成</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋体; vertical-align: super;">[4</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋体;">°</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋体; vertical-align: super;">]</span><span style="letter-spacing: 0pt; line-height: 29.1333332061768px; font-size: small; font-family: 宋体;">。位置环包括位置控 制模块、位置检测和反馈装置；速度环包括伺服电动机、伺服电机驱动装置、速度测量和 </span><span class="20" style="line-height: 29.1333332061768px; font-size: small; font-family: 宋体; letter-spacing: -1pt;">反馈装置</span><span class="20" style="line-height: 29.1333332061768px; font-size: small; font-family: 宋体; letter-spacing: -1pt; vertical-align: super;">[4()]</span><span class="20" style="line-height: 29.1333332061768px; font-size: small; font-family: 宋体; letter-spacing: -1pt;">。</span></p> <p class="NewStyle36" style="margin-right: 0pt; margin-left: 18pt; line-height: 11.5pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">1.</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">的</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">控制</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 0pt; line-height: 11.5pt;"><span style="font-size: small;"><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">(proportional</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">gain</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">、</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">integral</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">gain、derivative</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">gain</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">)</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">控制算法是一种在工业自动</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">化领域起到重要作用的经典控制算法，非常好的自动控制理论里面的最为基础的</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">。</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC </span><span style="font-family: 宋体; letter-spacing: 0pt;">运动控制器中给用户和开发者提供了 </span><span style="font-family: 宋体; letter-spacing: 0pt;">“</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">+</span><span style="font-family: 宋体; letter-spacing: 0pt;">速度/加速度前馈</span><span style="font-family: 宋体; letter-spacing: 0pt;">+</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">NOTCH</span><span style="font-family: 宋体; letter-spacing: 0pt;">滤波”的控制环算 法</span><span style="font-family: 宋体; letter-spacing: 0pt; vertical-align: super;">[41]</span><span style="font-family: 宋体; letter-spacing: 0pt;">。典型</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span style="font-family: 宋体; letter-spacing: 0pt;">内部</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 宋体; letter-spacing: 0pt;">+陷波滤波器算法原理图如图</span><span style="font-family: 宋体; letter-spacing: 0pt;">4-1</span><span style="font-family: 宋体; letter-spacing: 0pt;">所示，表</span><span style="font-family: 宋体; letter-spacing: 0pt;">4-1</span><span style="font-family: 宋体; letter-spacing: 0pt;">表示</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC </span><span style="font-family: 宋体; letter-spacing: 0pt;">的</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">控制算法相关参数</span><span style="font-family: 宋体; letter-spacing: 0pt; vertical-align: super;">[42]</span><span style="font-family: 宋体; letter-spacing: 0pt;">。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: MingLiU; letter-spacing: 0pt;"> </span></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">其中 </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Proportional</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> (1</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">x</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">30 </span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">比例增益</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">)；</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kd</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">:</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Derivative</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> (1</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">x</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">31 </span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">微分增益</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">)；</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Vel</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Feedforward</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">(</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ix</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">32 </span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">速度前馈</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">)；</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ki</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Integral</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Gain</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">(</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ix</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">33 </span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">积分增益</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">)；</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">IM</span><span class="21" style="font-family: 宋体; letter-spacing: 0pt;">: </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Integration</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle36" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Mode (Ix34 积分模式)；Kaff：Acceleration Feedforward Gain(Ix35 加速度前馈)。</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle37" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">表</span><span style="font-family: 宋体; letter-spacing: 0pt;">4-1 </span><span class="24" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">PM</span><span style="font-family: 宋体; letter-spacing: 0pt;"> </span><span class="24" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">AC</span><span style="font-family: 宋体; letter-spacing: 0pt;">的</span><span class="24" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">pro</span><span style="font-family: 宋体; letter-spacing: 0pt;">控制算法参数</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 10.5pt;"><o:p></o:p></span></p> <table class="MsoNormalTable" style="border-collapse:collapse; width:476.8500pt; mso-table-layout-alt:fixed; mso-padding-alt:0.0000pt 5.4000pt 0.0000pt 5.4000pt ; "> <tbody> <tr style="height:28.5500pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">变量</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">参数</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">作用</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">数值影响</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:33.1000pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">30</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">p</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">参数，比例增益</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">提供系统所需的刚度</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="bottom" style="width: 177.1pt; padding: 0pt 5.4pt; border-top-width: 0.5pt; border-top-style: solid; border-top-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.3pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">数值越大，系统刚性越好，但太大会 产生振荡。太小系统会反应延迟。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:32.6500pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">33</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">I</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">参数，积分增益</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">用于消除稳态误差</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="top" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">与</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">63</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">时间积分误差有关：如果输出 饱满，</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">33</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">无效</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:28.3000pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">31</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="bottom" style="width: 101.5pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">D</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">参数，微分增</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">姐</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.3pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">用于提供足够的阻尼来保证系 统稳定</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">数值越大，阻尼越大，系统越稳定</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:20.6500pt; "> <td width="65" valign="center" rowspan="2" style="width: 49.45pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">32</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" rowspan="2" style="width: 101.5pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">速度前馈</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">减小由于微分增益所引起的跟</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="bottom" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">对电流环</span><span class="28" style="font-family: Arial; letter-spacing: 0pt;">,</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">32</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">应等于或略大于</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">31</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:16.1000pt; "> <td width="198" valign="top" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">随误差</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="top" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">对速度环，</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">32</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">应远大于</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">31</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:28.5500pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">35</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">加速度前馈</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">减小由于系统惯性所带来的跟 随误差</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">反应滞后特别明显时，增加</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">35</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:55.4500pt; "> <td width="65" valign="center" style="width: 49.45pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">68</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" style="width: 101.5pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">摩擦增益</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="center" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">减小由于摩擦产生的跟随误 差，</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="center" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 16.1pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">该变量正比于要求速度的符号，速度 为正</span><span class="29" style="font-family: MingLiU; letter-spacing: 0pt;">，</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">68</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">被加进输出，速度为负， </span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">68</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">从输出中减去。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:18.5000pt; "> <td width="65" valign="center" rowspan="2" style="width: 49.45pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">34</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="135" valign="center" rowspan="2" style="width: 101.5pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">积分模式</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="198" valign="bottom" style="width: 148.8pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">决定积分增益是全程有效还是</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="bottom" style="width: 177.1pt; padding: 0pt 5.4pt; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">34=0</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">积分增益全程有效</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1</span><span class="27" style="font-family: Corbel; letter-spacing: 0pt; font-weight: bold;">x</span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">34= </span><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">1积</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> <tr style="height:22.3000pt; "> <td width="198" valign="top" style="width: 148.8pt; padding: 0pt 5.4pt; border-bottom-width: 0.5pt; border-bottom-style: solid; border-bottom-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">只在控制速度为0时才有效</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> <td width="236" valign="top" style="width: 177.1pt; padding: 0pt 5.4pt; border-bottom-width: 0.5pt; border-bottom-style: solid; border-bottom-color: windowtext; background-image: initial; background-attachment: initial; background-size: initial; background-origin: initial; background-clip: initial; background-position: initial; background-repeat: initial;"> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 10.5pt;"><span style="font-size: small;"><span class="26" style="font-family: 宋体; letter-spacing: 0pt;">分增益只有在控制速度为0时有效</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> </td> </tr> </tbody> </table> <p class="NewStyle38" style="margin-left: 0pt; text-indent: 0pt; line-height: 11.5pt;"><span style="font-size: small;"><span class="30" style="font-family: 宋体; letter-spacing: 0pt;"> </span></span></p> <p class="NewStyle38" style="margin-left: 0pt; text-indent: 0pt; line-height: 11.5pt;"><span style="font-size: small;"><span class="30" style="font-family: 宋体; letter-spacing: 0pt;">2. </span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span class="30" style="font-family: 宋体; letter-spacing: 0pt;">的</span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span class="30" style="font-family: 宋体; letter-spacing: 0pt;">调节</span></span><span style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 11.5pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 22.3pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">利用</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMAC</span><span style="font-family: 宋体; letter-spacing: 0pt;">提供的</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PmacTuningPro</span><span style="font-family: 宋体; letter-spacing: 0pt;">软件对伺服电机进行</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">参数整定调节。 </span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PMACTuningPro</span><span style="font-family: 宋体; letter-spacing: 0pt;">提供了 </span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">自动整定功能</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">AutoTuning</span><span style="font-family: 宋体; letter-spacing: 0pt;">，</span><span style="font-family: 宋体; letter-spacing: 0pt;">但在有负载的情况下，自整定并</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle39" style="margin-left: 0pt; text-indent: 0pt; line-height: 22.3pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">不一定能够达到最理想的状态，仍需要手动整定伺服环参数。图</span><span style="font-family: 宋体; letter-spacing: 0pt;">4-2</span><span style="font-family: 宋体; letter-spacing: 0pt;">为</span><span class="32" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">参数集成整定</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle39" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">对话框。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">参数可以由计算或者实验的方法得到，理论计算的方法有一定的缺陷，所以很多 时候还是要利用实验的方法进行现场整定。最常用的两种信号源是阶跃位置信号和抛物线 速度信号，阶跃响应主要是调节系统的</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">参数，而抛物线响应主要是调节系统的动态特 性，包括速度前馈和加速度前馈，通过多次试验，取其最佳值</span><span style="font-family: 宋体; letter-spacing: 0pt; vertical-align: super;">[43]</span><span style="font-family: 宋体; letter-spacing: 0pt;">。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: MingLiU; letter-spacing: 0pt;"> </span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">以1号电机为例，将其</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt;">参数设置为0，阶跃响应曲线整定曲线如图</span><span style="font-family: 宋体; letter-spacing: 0pt;">4-3</span><span style="font-family: 宋体; letter-spacing: 0pt;">所示：</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">a</span><span style="font-family: 宋体; letter-spacing: 0pt;">)、 </span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">b</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">比例增益</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋体; letter-spacing: 0pt;">从200开始逐渐增加，响应时间</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">（Rise</span><span style="font-family: 宋体; letter-spacing: 0pt;"> </span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Time</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">明显缩短，当</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋体; letter-spacing: 0pt;">增大到一定 程度时，响应时间又会延长并且出现震荡，取响应时间最短时的值作为</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋体; letter-spacing: 0pt;">的值。此时， 电机有一定的超调</span><span style="font-family: 宋体; letter-spacing: 0pt;">（</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">OverShoot</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">现象，我们加入</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kd</span><span style="font-family: 宋体; letter-spacing: 0pt;">=2</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kp</span><span style="font-family: 宋体; letter-spacing: 0pt;">，</span><span style="font-family: 宋体; letter-spacing: 0pt;">超调变为0，响应时间延长， 逐渐减小</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kd</span><span style="font-family: 宋体; letter-spacing: 0pt;">的值，直到响应时间达到</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">b</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">中的值，如</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">c</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">所示，已经比较接近理想值。再 给予</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Ki</span><span style="font-family: 宋体; letter-spacing: 0pt;"> </span><span style="font-family: 宋体; letter-spacing: 0pt;">一个较小值时，超调由0.6%降为0.1%，如</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">d</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">所示，此时响应时间达到最小，带 宽</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">（Natural</span><span style="font-family: 宋体; letter-spacing: 0pt;"> </span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Freq</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">最大，超调接近于0,达到系统的理想状态。</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size: small;"><span style="font-family: 宋体; letter-spacing: 0pt;">抛物线信号响应曲线整定见图4-5，图</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">a</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">中</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span style="font-family: 宋体; letter-spacing: 0pt;">为零时，伴随误差（图中蓝色线</span><span style="font-family: 宋体; letter-spacing: 0pt;">）</span><span style="font-family: 宋体; letter-spacing: 0pt;">约 为</span><span style="font-family: 宋体; letter-spacing: 0pt;">300</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">cts</span><span style="font-family: 宋体; letter-spacing: 0pt;">,</span><span style="font-family: 宋体; letter-spacing: 0pt;">伴随误差线与指令速度线同相同位。加入速度前馈，令</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span style="font-family: 宋体; letter-spacing: 0pt;">=10000,</span><span style="font-family: 宋体; letter-spacing: 0pt;">可以发现, 此时伴随误差线反向，如图</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">b</span><span style="font-family: 宋体; letter-spacing: 0pt;">)。</span><span style="font-family: 宋体; letter-spacing: 0pt;">需取其中间值，使伴随误差位于0附近，如图</span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">c</span><span style="font-family: 宋体; letter-spacing: 0pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt;">所示， 此时伴随误差主要是由系统惯性带来，最大误差集中发生抛物线加速度最大处，逐渐加入 </span><span class="16" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kaff</span><span style="font-family: 宋体; letter-spacing: 0pt;">可以减小这类误差</span><span style="font-family: 宋体; letter-spacing: 0pt; vertical-align: super;">[44]</span><span style="font-family: 宋体; letter-spacing: 0pt;">。由于系统存在摩擦，还需要加入适当的摩擦前馈，但摩擦前馈</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span><span style="font-size: small;"><span class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">Kvff</span><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">，</span><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">最终结果如图</span><span class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">d</span><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">)</span><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">所示，最大伴随误</span></span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span><span style="font-size: small;"><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">相等为止，可以根据曲线误差的方向适当调整 差不超过</span><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">80</span><span class="22" style="font-family: 'Times New Roman'; letter-spacing: 0pt;">cts</span><span class="33" style="font-family: 宋体; letter-spacing: 0pt;">。</span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.35pt;"> </p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: 宋体;">本文采摘自“基于</span><span lang="EN-US">PMAC</span><span style="font-family: 宋体;">的加工中心开放式数控系统研究”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！</span></span></p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: 宋体;">本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></span></p> <p class="MsoNormal"><span style="font-size: small;"> </span></p> <p class="MsoNormal"><span style="font-size: small;"><span style="font-family: 宋体;">相关内容可查阅：主页（</span></span><b><span lang="EN-US"><a href="http://www.bethel-cnc.com/"><span style="font-size: small;"><span lang="EN-US" style="font-family: 宋体;">加工中心</span></span></a></span></b><span style="font-size: small;"><span style="font-family: 宋体;">）、产品页（</span></span><span style="font-size: small;"><b><span lang="EN-US"><a href="http://www.bethel-cnc.com/bethel/cnc/">CNC<span lang="EN-US" style="font-family: 宋体;"><span lang="EN-US">加工中心</span></span></a></span></b><span style="font-family: 宋体;">）、文章页（</span></span><b><span lang="EN-US"><a href="http://www.bethel-cnc.com/bethel/news/"><span style="font-size: small;"><span lang="EN-US" style="font-family: 宋体;">数控加工中心</span></span></a></span></b><span style="font-size: small;"><span style="font-family: 宋体;">）</span></span></p> <p class="NewStyle35" style="margin-left: 0pt; text-indent: 0pt; line-height: 21.35pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E7%AB%8B%E5%BC%8F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>立式加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E7%BA%BF%E8%BD%A8%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' 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