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面包屑導航結束 --> <!-- 頁面標題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>PID控制原理<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> 第5章伺服系統的穩定性調節<br /> 伺服系統是數控系統中重要的組成部分，是連接數控系統與機床本體的紐帶。 加工中心中，伺服系統接收NC發出的指令，經過伺服系統的變換和放大，發送給 伺服電機，伺服電機帶動傳動機構完成機床的控制運動。通過數控系統的控制過 程，可以看出伺服系統的動、靜態性能的好壞，影響了數控機床的加工精度、可 靠性和穩定性。PID調節是系統穩定性調節的典型方法，本章通過分析UMAC的 PID調節原理，對伺服系統的PID反饋、速度及加速度前饋進行了調節，使系統 獲得了良好的穩定性、快速性和精確性。<br /> 5.1 PID控制原理<br /> 在工業控制中，PID控制是一種產生最早、應用廣泛的控制方法。由于其控制 原理簡單，可靈活調整控制參數，適應性強，在很寬的操作條件和范圍內都能保 持較好的魯棒性和系統穩定性，其應用于機械、航空航天、電子電力等領域[29]。<br /> PID控制算法是模擬控制系統中最基本與常用的一種控制方法，即按照偏差信 號的比例、積分、微分進行控制的算法，簡稱PID控制。其控制系統原理圖如圖 5.1所示。在實際工程中，當控制對象的結構和參數難以完全掌握，或精確的數學 模型難以建立，運用控制理論綜合分析要付出很大代價，并且得到的效果與預期 效果有一定的差距，這種情況下往往采用PID控制。PID控制是以系統的檢測元 件反饋回的值與給定值進行比較得到的偏差值為輸入，通過比例控制（P)、積分 控制（I)和微分控制（D)計算出控制量進行控制，從而提高了控制系統的準確 性和穩定性。PID控制器是一種比例、積分、微分三部分并聯的控制器，PID控 制的各部分作用如下[52_53]<br /> 1. 比例控制<br /> 比例控制是一種最簡單的控制方式，其作用是將輸入誤差線性放大（縮?。?， 從而減小輸入誤差。與具有滯后特點的積分控制控制相比，比例控制與誤差同步， 即當偏差產生時，比例控制隨即產生控制作用，用以減小偏差，但不能完全消除 誤差。用比例系數Kp可以衡量比例作用的強弱，增加（Kp)時，系統的動作靈 敏，速度加快，當Kp太大時震蕩次數增加，并且產生噪聲，調節時間加長；當Kp太小時，系統調節時間加長且穩態誤差較大。系統中若存在穩態誤差，增加 Kp值，系統穩態誤差減小，但會影響系統的穩定性。<br /> 2. 積分控制<br /> 積分控制可以消除偏差，其輸出量與輸入偏差值的積分成正比，積分控制輸 出信號的大小取決于輸入偏差和偏差存在的時間。若系統存在偏差，積分控制連 續地積累，調節器的輸出就有變化，調解機構動作，直到偏差減小到0,積分控制 停止工作。通過控制過程可以看出積分控制不能較快的根據偏差的變化做出調節， 具有滯后性。<br /> 3. 微分控制<br /> 微分控制可以根據偏差的變化速度而動作，其輸出與偏差微分呈正比，可以 預測出誤差的變化趨勢，有超前調節的作用。微分控制能在偏差信號變得太大之 前，在控制系統中引入一個有效的早期修正信號，提高系統的運動速度，從而減 小超調量，改善系統的穩定性。</p></div> <div id="n1l1njb9b" class="blank30"></div> <!-- tag --> <div id="n1l1njb9b" class="blank10"></div> 標簽： <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> <!-- 分類 --> <div id="n1l1njb9b" class="blank10"></div> 分類： <a href='/bethel/type/jnc/type-1.html' target='_blank'>加工中心</a> <div id="n1l1njb9b" class="blank30"></div> <!--自動調用自定義字段--> <div id="n1l1njb9b" 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