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10.5pt;">5.5</span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本章总结</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器的本质是被控对象输出（也就是控制器出入</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">）</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">跟控制输出的函数映射关 系。</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在线性时不变的基础上限制到三个自由度，有</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制、</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制和</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制。根 据</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制的特点（不是基于模型的控制方法），在模型图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">2.3</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">上加入</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制系统模 拟仿真后，完全抑制住了爬行。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(1) </span><!--[endif]--><span class="19" style="font-family: 宋体; letter-spacing: 1.5pt; font-size: 11pt;">比例控制是</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制系统中最简单的一种控制方式，应用比例控制时，考虑至</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">IJ </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">比例控制增益参数过小或者过大都不利于抑制爬行</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">（</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">比例控制增益参数过小达不到抑制 爬行的目的；比例控制增益参数过大时，比例控制输出存在稳态误差会造成系统不稳定）， 取</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">的增益参数为</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">0.7</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">0.8</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">时最理想，没有爬行出现。所以，只应用比例控制就 能改善爬行，简单方便。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(2) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">比例+积分控制可以使系统在进入稳态后无稳态误差，但是由图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.5</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.6</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">可 以发现，比例积分控制不论过小或者过大都对爬行改善效果不理想，经过</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器调节 后的速度与驱动速度不匹配，导致控制精度不高。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(3) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">比例+积分+微分控制能够改善系统在调节过程中的动态特性，但是存在和</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制一样的问题，三个增益参数选取过大都导致了过饱和现象的发生，这种发生过饱和 至女使速度显示稳定在大于</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">8</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">mm</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">/</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">s</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">之内，后又稳定在小于</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">8</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">mm</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">/</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">s</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(4) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">根据</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制和</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制出现的问题，将</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">进行参数化计算，对</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain、I</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">、 </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">D</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和同时对三个增益参数分别进行参数化计算，得出只对</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gain</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">进行参数化计算比 其他三种参数化计算方式都好，而且只要参数选取合适，就能完全解决比例积分控制和 比例积分微分控制中存在的控制力度不足和过饱和现象的发生，并且抑制了爬行。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(5) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在第四章加入振动仿真的过程中，挑选</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">sin</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(8</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">t</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">)、9</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">sin</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(8</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">t</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">21</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">sin</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(8</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">t</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">这一组在加 入振动仿真过程中，改善较差的三幅图，在振动模型图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4.1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">上面加入</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制后，从图 5.13、图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.14</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">5.15</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">能够看出：在加入振动的基础上再加入</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制系统后弥补了加 入振动改善不理想的状态。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本章利用</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制原理及其应用理论针对爬行的</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ADAMS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">仿真模型，进行了大量 的分析后，解决了爬行问题，并且整定参数较容易。根据这点想到了之前在加入振动参 数范围不好确定的基础上，可以在加入振动后在加入</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制系统，来进一步完善在振 动仿真过程中所存在的不足。如果只是单纯利用</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">来控制爬行虽然取得了较为满意的 效果，但由于在整定参数范围的时候，需要调整的参数项过多、线性组合不是最好的方 式、误差积分反馈项的引入有很多副作用（比如易产生振荡、易产生由积分饱和引起的 控制量饱和）和初始误差$父大易引起超调等一■系列问题等等，所以进一■步研宄</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和振 动之间的相互关系来一起抑制机床的爬行有一定的研宄价值。</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"> </p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“振动对数控机床进给系统爬行的影响”，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！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></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; 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