Based on control strategy , mixed control method is designed , which has improved the synthesis function of the system effectively 在控制策略上設(shè)計(jì)了帶前饋的復(fù)合控制方法,有效地提高了系統(tǒng)的綜合性能。
( 6 ) adjust the parameters by pid control theory . ( 7 ) do experiments on ehsls and analyze the data and results 忙)采用pid控制技術(shù)對(duì)電液伺服加載系統(tǒng)進(jìn)行調(diào)參和實(shí)驗(yàn),驗(yàn)證了復(fù)合前饋的實(shí)際控制效果。
After that combining the excellency of routine pi controller and fuzzy controller an fuzzy - pi controller is designed . it works well in practice 這樣綜合常規(guī)pi控制器以及模糊控制器各自的優(yōu)點(diǎn),最后設(shè)計(jì)了fuzzy - pi復(fù)合控制器,并引入前饋形成反饋加前饋的控制系統(tǒng)。
Finally , the friction model is applied after analyzing the mechanical structure of tracking system . the friction compensation had been obtained by differential feedforward applied to the output of position controller 最后建立了低速跟蹤情況下的摩擦模型,并用微分前饋的方法實(shí)現(xiàn)摩擦補(bǔ)償,消除摩擦對(duì)跟蹤精度的影響,提高了跟蹤精度。
In this paper , considering some special industry objects , a kind of feedforward nonlinear pid controller has been put forward based on the nonlinear pid controller , three kinds of control methods are applied to some special industry systems , they are classical pid controller , nonlinear pid controller and the nonlinear feedforward controller . from comparing them , we can find that the nonlinear feedforward method which is presented by this paper not only has the characteristic of high " robustness and adaptability " that nonlinear pid controller has , but also has higher response speed and shorter regulating time 本文基于這種非線性pid ,結(jié)合幾種特殊的工業(yè)對(duì)象的特點(diǎn),設(shè)計(jì)出了一種前饋非線性pid控制器,并針對(duì)幾種特殊工業(yè)對(duì)象分別用普通pid 、非線性pid以及前饋非線性pid對(duì)其控制,通過(guò)仿真比較發(fā)現(xiàn),本文提出的加前饋的非線性pid不僅具有非線性pid所具有的高魯棒性和適應(yīng)性特點(diǎn),同時(shí)由于前饋的引入使得調(diào)節(jié)時(shí)間更短,響應(yīng)速度更快。