湖南大学-大三暑假-机电课程设计报告解析

第三章 SIMULINK仿真

3.1 建立仿真模型

根据图2-1所示的控制系统框图，在SIMULINK中选择相应的控件，用数学模型代替相应的食物环节，建立控制系统的仿真模型。如下图3-1所示：

图3-1 直流伺服电机位置控制系统SIMULINK仿真模型图

其中PID子系统模型图如下图3-2所示：

图3-2 PID子系统仿真模型图

为了便于分析观察PID参数对输出的影响，以及方便参数整定，我将建立两个系统，使用相同输入，并用一个示波器展示出来观察，其系统仿真模型如图3-3所示：

图3-3直流伺服电机位置控制系统SIMULINK仿真模型图（输出信号对比）

3.2 阶跃信号输入的PID参数整定

通过对理论课上，PID参数整定方法的复习，按照课堂总结的口诀：

参数整定找最佳，从小到大顺序查。

先是比例后积分，最后再把微分加。

曲线振荡很频繁，比例度盘要放大。

曲线漂浮绕大弯，比例度盘往小扳。

曲线偏离回复慢，积分时间往下降。

曲线波动周期长，积分时间再加长。

曲线振荡频率快，先把微分降下来。

动差大来波动慢，微分时间应加长。

理想曲线两个波，前高后低四比一。

一看二调多分析，调节质量不会低。

对于PID参数整定，我的方法是先调节比例参数，从小到大，直到输出能够很快做出响应并且又一定超调，最终能够稳定的时候，保持比例参数P不变，调节积分参数，渐渐消除静态偏差，如此慢慢使得PID的参数准确使的输出能够较好的响应，做到快、准、稳。仿真对比曲线如下图3-4所示：

图3-4 阶跃信号输入输出响应曲线

输出数据如下：

00000.00317370.0111460.0295870.0592230.0973570.129350.18944

0.257740.296190.431280.463520.630870.739440.798180.94650.96551

1.0606 1.1328 1.3002 1.4675 1.6349 1.7425 1.8022 1.951.9695

2.0671

2.1368 2.3042 2.4715 2.6389 2.7452 2.8062 2.9532 2.9735

3.0748

3.1408 3.3082 3.4755 3.6429 3.7468 3.8102 3.9557 3.9775

4.0865

4.1448 4.3122 4.4795 4.6116 4.6468 4.8142 4.9235 4.9473 4.9473

4.9473 4.9815

5.0157 5.0841 5.1488 5.2092 5.2696 5.3161 5.3784

5.4407 5.4835 5.5455 5.6076 5.6508 5.7129 5.7749 5.8181 5.8802

5.9422 5.9855

6.0475 6.1095 6.1528 6.2148 6.2767 6.3201 6.3821

6.444 6.4875 6.5494 6.6114 6.6548 6.7167 6.7787 6.8221 6.8841

6.946 6.9895

7.05147.11337.15687.21877.28067.32417.3861

7.4487.49157.55347.61537.65887.72077.78277.82617.8881

7.957.99358.05548.08758.08758.14958.16088.21638.26988.3232

8.36418.40368.4578.47318.51138.54818.59768.60968.6459

8.68098.72718.73388.76648.80048.84698.87798.90778.9499

8.97859.0069.04369.079.09559.12889.15339.17689.20659.229

9.25079.27719.2989.3189.34149.36079.37929.39999.4177

9.43489.45329.46969.48549.50179.51699.53149.54599.5598

9.57339.5869.59899.61139.62269.63459.6469.65599.6669

9.67749.68629.69639.70619.71379.72319.73219.73889.7475

9.75589.76179.76969.77739.78259.78989.79689.80149.808

9.81449.81869.82479.83059.83439.83989.84519.84869.8536

9.85849.86169.86619.87069.87349.87769.88169.88419.8879

9.89169.89399.89749.90079.90299.9069.90919.9119.9139

9.91669.91849.9219.92359.92519.92759.92989.93129.9334

9.93559.93689.93889.94079.94189.94379.94549.94659.9481

9.94979.95079.95229.95369.95459.95599.95729.9589.9592

9.96049.96119.96239.96349.9649.96519.96619.96669.9676

9.96859.9699.96999.97079.97129.9729.97279.97329.9739

9.97469.9759.97569.97639.97669.97729.97789.97819.9787

9.97929.97959.989.98059.98079.98129.98169.98189.98239.9827 9.98299.98329.98369.98389.98419.98459.98469.9859.9853

9.98549.98579.9869.98619.98649.98669.98689.9879.9872

9.98749.98769.98789.98799.98819.98839.98849.98859.9887

9.98889.9899.98919.98929.98949.98959.98969.98979.9898

9.98999.999.99029.99029.99039.99049.99059.99069.99079.9907 9.99089.99099.9919.99119.99119.99129.99139.99139.9914

9.99149.99159.99159.99169.99179.99179.99189.99189.9918

9.99199.9929.9929.9929.99219.99219.99219.99229.9922

9.99229.99239.99239.99239.99249.99249.99249.99259.9925

9.99259.99269.99269.99269.99269.99269.99279.99279.9927

9.99279.99279.99289.99289.99289.99289.99299.99299.993

9.9939.9939.9939.9939.9939.99319.99319.99319.9931

9.99319.99319.99319.99319.99329.99329.99329.99329.9932

9.99329.99329.99329.99329.99329.99329.99339.99339.9933

9.99339.99339.99339.99339.99339.99339.99339.99339.9933

9.99339.99339.99339.99339.99339.99339.99339.99339.9933