In order to improve producer ' s efficiency , the mechanism such as rolling mill and shearing machine , which requests position control can go to the position in the best times and in the best mode , now , in the industrial application , open - loop control system is more used , even though in the closed - loop control system only adopts pid regulator , so time and efficiency can not reach the best 目前在工業(yè)應(yīng)用中,大多數(shù)采用的是普通的開環(huán)控制,閉環(huán)控制中應(yīng)用的也僅僅采用了pid ,因此在時(shí)間和效率上都沒有達(dá)到最優(yōu)。本文根據(jù)這種現(xiàn)狀,對(duì)apc控制系統(tǒng)進(jìn)行開發(fā)和應(yīng)用。目前,在工業(yè)控制中, pid調(diào)節(jié)和模糊控制應(yīng)用的比較多,也比較成熟,但在位置控制系統(tǒng)中,都沒有充分的發(fā)揮出這兩種控制方法的特點(diǎn)。
The new scheme employs a recursive algorithm to design controllers for every subsystem , respectively , and takes predesigned control inputs as disturbances . by using lyapunov method , the state of the closed - loop control system is proved to be bounded , with tracking error converging to zero 該方案通過逐層遞推的方法,分別針對(duì)每一個(gè)子系統(tǒng)單獨(dú)設(shè)計(jì)控制器,將本層之前已設(shè)計(jì)好的多項(xiàng)控制輸入作為等價(jià)干擾,利用李亞普諾夫方法,先證明閉環(huán)系統(tǒng)的狀態(tài)有界,再證明跟蹤誤差漸近收斂到零。
The respect drive system design : the servo valve commonly used in the closed - loop control system is replaced with the proportion direction valve , and controlled it with the methods of electrohydraulic proportional control . the system adopts the hydraulic circuits that prevent the simulating table letting down because it own weight take place 驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)方面:用比例方向閥取代了液壓閉環(huán)控制系統(tǒng)中常用的伺服閥,采用電液比例技術(shù)對(duì)其進(jìn)行控制,并在液壓油路中采用了防止因仿真轉(zhuǎn)臺(tái)自重而產(chǎn)生緩慢下滑的液壓回路。
The result of simulation shows that the close - loop controlling system based on generic model control is steady , fast response , small errors and high ability to diminish the effect of disturbance . it ' s one of the good controlling schemes which are able to fit the mission of the controlling of the torpedo thermal power propulsion system . and the simulation program has the friendly interface , easy operation , visual result , clear template and powerful upgrade 結(jié)果表明:所研究的基于一般模型控制的閉環(huán)控制具有系統(tǒng)穩(wěn)定,響應(yīng)速度快,穩(wěn)態(tài)誤差小,抗干擾能力強(qiáng)等特點(diǎn),能夠滿足魚雷戰(zhàn)術(shù)、技術(shù)指標(biāo)對(duì)動(dòng)力推進(jìn)系統(tǒng)的要求,不失為一種良好的控制方案;仿真軟件界面友好,操作簡(jiǎn)單,形象直觀,模塊清晰,可升級(jí)性好。
In order to be pull into practice use in engineering application , a real time emluator of the the closed - loop control system for the x - model aero - engine acceleration process has been established through combining the engine model and the controller model . the sqp ( sequential quadratic programming ) is used to get the optimal acceleration process result for the x - model aero - engine 為了達(dá)到工程上實(shí)用的目的,在對(duì)某研究所提供的某型發(fā)動(dòng)機(jī)實(shí)時(shí)模型作了詳細(xì)分析并進(jìn)行了加速過程的仿真計(jì)算后,本文將控制器模型和發(fā)動(dòng)機(jī)模型聯(lián)立在一起,構(gòu)成了閉環(huán)形式的發(fā)動(dòng)機(jī)加速過程實(shí)時(shí)仿真計(jì)算模型。
According to the features of precision , efficiency , inspection dimension and accuracy varying great range , designed closed - loop control system composition of servomechanism and grating to assure system ’ s precision , smooth , efficiency , and to realize the great dimension range measurement ; designed image capture system composition of ccd , automatic variable power lens and self - adaptive lighting , to realize integration of large inspection precision range ; designed electric control and software system to make the inspection convenience and fast . finally , developed the prototype instrument 針對(duì)微電子產(chǎn)品視覺檢測(cè)的精密、高效、檢測(cè)精度和測(cè)量范圍變換大的特點(diǎn),設(shè)計(jì)了伺服驅(qū)動(dòng)、精密光柵采集組成閉環(huán)控制系統(tǒng)以保證運(yùn)動(dòng)精密、平穩(wěn)、高效,和大的尺寸測(cè)量范圍;設(shè)計(jì)了由ccd攝像機(jī)、大范圍自動(dòng)變倍鏡頭和自適應(yīng)光源組成的圖像采集系統(tǒng),集不同精度等級(jí)的檢測(cè)于一體;設(shè)計(jì)了電氣控制和軟件系統(tǒng)使檢測(cè)方便快捷。
The result shows that forming a high capability ac control ic using this ip as an embedded core with other cpu or dsp core can efficiently shorten the cpu processing time and constitute high performance close - loop control system . some of the ips about the communication between d / a convert , i2c devices and control ics are also created 這種速度估算ip核作為一種通用的片內(nèi)外設(shè)形式(以硬件形式完成軟件功能) ,和裸mcu (或dsp )核制成電機(jī)控制專用芯片,可應(yīng)用于各種無速度傳感器的電機(jī)控制場(chǎng)合。
( 2 ) based on the research of predecessors , simulation research on fault detection methods of closed - loop control systems has been done . and what ’ s more , a novel method for fault detection of closed - loop control systems is presented , which combines the controller output error and the system output error ( 2 )在前人研究的基礎(chǔ)上,對(duì)閉環(huán)控制系統(tǒng)的故障檢測(cè)方法做了仿真研究,進(jìn)而提出了一種閉環(huán)系統(tǒng)故障檢測(cè)的新方法:把控制器的輸出和系統(tǒng)的輸出結(jié)合起來檢測(cè)故障。
By the research in this paper , the problems of stability and tracking for nonlinear systems have been properly solved by using backstepping and lyapunov synthesis method and supervisory control and error compensation ; the adaptive fuzzy control problems of nonlinear continuous systems have also been properly solved . the schemes presented can guarantee the global stability of the closed - loop control systems with tracking error converging to zero , while the modeling error exists . they can improve the performance of the systems and their robustness 通過本文的研究,較好地將后推法、李亞普諾夫綜合方法、監(jiān)督控制及誤差補(bǔ)償相結(jié)合,解決了一類非線性系統(tǒng)的穩(wěn)定性問題和跟蹤問題;接著解決了siso 、 mimo非線性連續(xù)系統(tǒng)的模型參考自適應(yīng)模糊控制問題,提出的模糊控制器設(shè)計(jì)方案在建模誤差存在的情況下,能夠保證閉環(huán)系統(tǒng)全局穩(wěn)定,且系統(tǒng)跟蹤誤差收斂到零。
Finally , the prototype of closed - loop control system of mc has been designed . a seris of experiments have been made , and the results show that the closed - loop control of mc presented here is correct . also , the mc closed - loop systems based on the method can be applied to the variable frequency power supplies 最后,制作了輸出電壓有效值控制矩陣變換器閉環(huán)系統(tǒng)的原理樣機(jī),進(jìn)行了一系列實(shí)驗(yàn)測(cè)試,結(jié)果表明采用雙空間矢量策略矩陣變換器實(shí)現(xiàn)輸出電壓有效值閉環(huán)控制是正確有效的,輸出電壓有效值控制矩陣變換器閉環(huán)系統(tǒng)作為變頻電源設(shè)計(jì)也是切實(shí)可行的。