ÖÇÄÜÂë¶â»úеÊÖ¿ØÖÆϵͳÉè¼Æ

ÆëÆë¹þ¶û´óѧ±ÏÒµÉè¼Æ£¨ÂÛÎÄ£©

3.3 ¿ØÖƹæÂÉÓëÖÇÄÜËã·¨

Ä¿Ç°Ö÷Á÷µÄËÅ·þÇý¶¯Æ÷¾ù²ÉÓÃÊý×ÖÐźŴ¦ÀíÆ÷£¨DSP£©×÷Ϊ¿ØÖƺËÐÄ£¬¿ÉÒÔʵÏֱȽϸ´ÔӵĿØÖÆËã·¨£¬ÊµÏÖÊý×Ö»¯¡¢ÍøÂ绯ºÍÖÇÄÜ»¯¡£¹¦ÂÊÆ÷¼þÆÕ±é²ÉÓÃÒÔÖÇÄܹ¦ÂÊÄ£¿é£¨IPM£©ÎªºËÐÄÉè¼ÆµÄÇý¶¯µç·£¬IPMÄÚ²¿¼¯³ÉÁËÇý¶¯µç·£¬Í¬Ê±¾ßÓйýµçѹ¡¢¹ýµçÁ÷¡¢¹ýÈÈ¡¢Ç·Ñ¹µÈ¹ÊÕϼì²â±£»¤µç·£¬ÔÚÖ÷»Ø·Öл¹¼ÓÈëÈíÆô¶¯µç·£¬ÒÔ¼õСÆô¶¯¹ý³Ì¶ÔÇý¶¯Æ÷µÄ³å»÷¡£¹¦ÂÊÇý¶¯µ¥ÔªÊ×ÏÈͨ¹ýÈýÏàÈ«ÇÅÕûÁ÷µç·¶ÔÊäÈëµÄÈýÏàµç»òÕßÊеç½øÐÐÕûÁ÷£¬µÃµ½ÏàÓ¦µÄÖ±Á÷µç¡£¾­¹ýÕûÁ÷ºÃµÄÈýÏàµç»òÊе磬ÔÙͨ¹ýÈýÏàÕýÏÒPWMµçѹÐÍÄæ±äÆ÷±äƵÀ´Çý¶¯ÈýÏàÓÀ´Åʽͬ²½½»Á÷ËÅ·þµç»ú¡£¹¦ÂÊÇý¶¯µ¥ÔªµÄÕû¸ö¹ý³Ì¿ÉÒÔ¼òµ¥µÄ˵¾ÍÊÇAC-DC-ACµÄ¹ý³Ì¡£ÕûÁ÷µ¥Ôª£¨AC-DC£©Ö÷ÒªµÄÍØÆ˵ç·ÊÇÈýÏàÈ«ÇŲ»¿ØÕûÁ÷µç·¡£

3.3.1 ËÅ·þÇý¶¯Æ÷µÄ±Õ»·¿ØÖÆ

ËÅ·þµç»ú½«Çý¶¯Æ÷µÄµçÐźÅת»¯Îª½ÇËٶȻò½ÇλÒÆ£¬Í¬Ê±ÓÖͨ¹ý±àÂëÆ÷½«×ÔÉíµÄת½ÇÐÅϢʵʱ·´À¡¸øËÅ·þÇý¶¯Æ÷£¬¿ÉÒÔʵÏÖλÖá¢Ëٶȡ¢×ª¾ØµÄ±Õ»·¿ØÖÆ¡£ËÅ·þÇý¶¯Æ÷ºÍËÅ·þµç»ú×é³ÉµÄËÅ·þÇý¶¯ÏµÍ³£¬¾ßÓе÷ËÙ·¶Î§¿í¡¢¶¨Î»¾«¶È¸ß¡¢ÏìÓ¦Ëٶȿ졢ÎÞ³¬µ÷¡¢×ª¾Ø²¨¶¯Ð¡¡¢¹ýÔØÄÜÁ¦Ç¿¡¢¿É¿¿ÐԸߵÈÌص㡣¸ù¾ÝËÅ·þϵͳÈý»·¿ØÖÆÔ­Àí£¬ËÅ·þÇý¶¯Æ÷Ò»°ãÓÐλÖÃģʽ¡¢ËÙ¶ÈģʽºÍת¾ØģʽÈýÖÖ¿ÉÑ¡£¬·Ö±ðÓÃÔÚ¾«È·¶¨Î»¡¢ÎÞ¼¶µ÷ËÙºÍת¾Ø¿ØÖÆÁìÓò¡£±¾Éè¼ÆÕýÊÇÀûÓÃËÅ·þϵͳµÄλÖÃģʽÀ´ÊµÏÖÂë¶â»úеÊֵľ«È·¶¨Î»¹¦ÄÜ¡£

±»¼ì²âµçÁ÷R5R2R1-5VGNDC1R3++UCR6R7¼ì²âÐźÅÊä³öLEM+15VOUTC2-R4

ͼ3-2ËÅ·þϵͳÈý»·¿ØÖÆÔ­Àíͼ

ËÅ·þÇý¶¯Æ÷ÉèÖÃÖÐӦעÒ⣺ 1¡¢É趨λÖû·µ÷½ÚÆ÷µÄ±ÈÀýÔöÒ棻

2¡¢ÉèÖÃÖµÔ½´ó£¬ÔöÒæÔ½¸ß£¬¸Õ¶ÈÔ½´ó£¬ÏàͬƵÂÊÖ¸ÁîÂö³åÌõ¼þÏ£¬Î»ÖÃÖͺóÁ¿Ô½Ð¡¡£µ«Êýֵ̫´ó¿ÉÄÜ»áÒýÆðÕñµ´»ò³¬µ÷£»

3¡¢²ÎÊýÊýÖµÓɾßÌåµÄËÅ·þϵͳÐͺź͸ºÔØÇé¿öÈ·¶¨

29

ÆëÆë¹þ¶û´óѧ±ÏÒµÉè¼Æ£¨ÂÛÎÄ£©

¦Èg-¿ØÖƹæÂÉD/Aks(Tms?1)(TIs?1)¦È

ͼ3-3 ±Û¹Ø½Ú¿ØÖÆÄ£ÐÍ

ÒԱ۹ؽÚΪÀý£¬È·¶¨ÆäÊýѧģÐÍÔÚ»úеÊֱ۹ؽڶÔÏóÖУ¬Ò»°ã½«Ö±Á÷Á¦¾Øµç»úÄ£ÐÍÒÔÁ½¸ö¹ßÐÔ»·½ÚÀ´¼ò»¯£¬Æä±í´ïʽΪ£º

k (3-1)

s(Tms?1)(TIs?1)ʽÖУºTmΪµç´Åʱ¼ä³£Êý£»TlΪµç»úʱ¼ä³£Êý£»KΪÇý¶¯µç·µÄ·Å´ó±¶ÊýÒÔ¼°µç»ú¼õËÙÆ÷¼õËٱȵÄ×ÛºÏÖµ£»SΪ»ý·Ö»·½Ú¡£Í¼ÖеĦȱíʾ»úеÊÖÊä³öת¹ýµÄ½Ç¶È£»¦Èg±íʾ¸ø¶¨½Ç£»

ÔÚ¹¤³ÌÉÏ£¬ PID ¿ØÖÆÆ÷ÒòÆä¾ßÓнṹ¼òµ¥£¬ ÄÜÊÊÓ¦´óÁ¿¹¤Òµ¹ý³ÌµÄ¿ØÖÆÒªÇó£¬ ¾ßÓнÏÇ¿µÄ³°ôÐÔ¶øµÃµ½Á˹㷺µÄÓ¦Óá£ÔÚÑо¿ÖÐÊ×ÏȲÉÓÃÁËPID¿ØÖÆÆ÷¡£ÒԱ۹ؽÚΪÑо¿¶ÔÏó½øÐÐÁËϵÁеÄÕÛË㣬²âµÃ½á¹ûΪTm=0.271£¬Tl=l/R=0.00243(Tm>>Tl)¡£Æ俪»·´«µÝº¯ÊýΪ£º

G(s)?40.9 (3-2)

s(0.274s?1)ÔÚ¹ý×èÄá¡¢ÎÞ³¬µ÷ʱ£¬ È¡µÃPD¡¢PID²ÎÊý·Ö±ðΪ£ºP=8¡¢D=6¡¢ºÍP=10¡¢I=0.01¡¢D=5¡£Ñ¡ÓÃÉÏÊö²ÎÊý½øÐпØÖƺ󣬴æÔÚÃ÷ÏÔÎÊÌ⣻¿ØÖƾ«¶È²»¸ß£¬¿ØÖƹý³Ì³¬µ÷Á¿´ó£¬Í¬Ê±ÕýתÓ뷴ת´æÔÚÒ»¶¨µÄËÀÇøÎó²î¡£

3.3.2 ¿ØÖÆÖÇÄÜËã·¨

ÓÉÓÚ»úеÊÖʵ¼Êϵͳ´æÔÚÑÏÖصķÇÏßÐÔ£¬¶ÔϵͳµÄ²ÎÊý±ä»¯±È½ÏÃô¸Ð£¬ÄÑÒÔ×öµ½×¼È·¶¨Î»£»ÁíÍâÓÉÓÚ»úе¾«¶È·½ÃæµÄÔ­Òò»¹´æÔÚÒ»¶¨µÄËÀÇø£¬Ê¹µÃ¿ØÖƾ«¶È½µµÍ£¬´æÔÚ³¬µ÷¡£PID¿ØÖÆÆ÷ÔÚÏßÐÔ¿ØÖÆÁìÓòµÃµ½Á˹㷺ӦÓ㬵«ÊÇÈçºÎʹµÃPID¿ØÖÆÓ¦ÓÃÓÚ·ÇÏßÐÔ¿ØÖÆϵͳ£¬²¢¾ßÓÐÒ»¶¨µÄ¿É¿¿ÐÔ£¬Ò»Ö±ÎªÈËÃÇËù¹Ø×¢£¬ÓÉÓÚÄ£ºý¿ØÖƾßÓÐÒ»¶¨µÄÖÇÄÜÐÔ£¬¶ÔÓÚ·ÇÏßÐԵĿØÖƾßÓÐÒ»¶¨µÄÌص㣬Òò¶ø¿ÉÒÔÔ¤¼û£¬Èô½«Ä£ºý¿ØÖƲßÂÔÓ¦ÓÃÓÚPID¿ØÖÆÆ÷µÄÉè¼Æ£¬Ê¹¿ØÖÆÆ÷¼È¾ßÓд«Í³PID¿ØÖÆÆ÷µÄÓŵ㣬ÓÖ¾ßÓÐÄ£ºý¿ØÖƵÄÖÇÄÜÌص㣬´Ó¶øʹµÃ¿ØÖƲßÂÔÄܹ»Ë湤¿öµÄ²»Í¬¶øʵʱµ÷Õû£¬Æä¿ØÖƽṹÈçͼ3-4Ëùʾ¡£

λÖøø¶¨ E¦È ¦È ¿ØÖÆÆ÷¿ØÖÆÇý¶¯×°ÖÃ

ͼ3-4 Ä£ºý¿ØÖƽṹͼ

¦ÄE¦È 30

ÆëÆë¹þ¶û´óѧ±ÏÒµÉè¼Æ£¨ÂÛÎÄ£©

ͼÖУ¬E¦ÈΪת½ÇÎó²î£¬¦ÄE¦ÈΪÎó²îÔöÁ¿¡£ÉèλÖÃÎó²îÄ£ºýÁ¿ÎªE£¬Îó²îµÄ±ä»¯Á¿ÎªC[E]£¬¿ØÖÆÊä³öÁ¿ÎªU¡£½«Îó²îE£¬Îó²î±ä»¯ÂÊC[E]¼°¿ØÖÆÁ¿UµÄÂÛÓòȡΪ

{E}={C[E]}={U}={-3£¬-2£¬-1£¬0£¬+1£¬+2£¬+3}£¬ÆäÄ£ºý×Ó¼¯ÓïÑÔ±äÁ¿ÃèÊö´Ê»ãÈçÏ£¬¼´:{¸º´ó£¬¸ºÖУ¬¸ºÐ¡£¬Á㣬ÕýС£¬ÕýÖУ¬Õý´ó}¡Õ{-3£¬-2£¬-1£¬0£¬+1£¬+2£¬+3}¡£ÔÚϵͳÖУ¬Î»Öõĸø¶¨ÖµÎª0¶ÈÖÁ360¡ã£¬×ª½ÇµÄ²ÉÑùÖµÊÇÀûÓÃPLCµÄ¸ßËÙÊäÈë¿ÚÀ´¼ì²âÐý±äBºÏ³ÉÐźÅUm sin(¦Øt+¦Á)µÃ³öת½ÇÐÅÏ¢¦Á(-90<¦Á<+90)£¬Î»ÖÃÎó²îµÄÄ£ºýÖµ¼°Ä£ºýÁ¿¸³ÖµÈç±í1Ëùʾ¡£×ª½ÇÎó²îÔöÁ¿C[E(¦È)]±íʾΪC[E(¦È)]=E[¦È(i)]-E[¦È(i-1)]ÆäÄ£ºý»¯¼°Ä£ºý±äÁ¿µÄ¸³ÖµÈç±í3-3Ëùʾ¡£

±í3-3 Îó²îµÄÄ£ºý»¯±í¼°±äÁ¿¸³Öµ±í

E(¦È)µ¥Î»£¨¶È£© 75¡Ü¦È¡Ü90

45¡Ü¦È¡Ü75 75¡Ü¦È¡Ü90 -15¡Ü¦È¡Ü15 -45¡Ü¦È¡Ü-15 -75¡Ü¦È¡Ü-45 -90¡Ü¦È¡Ü-75

E -3 -2 -1 0 1 2 3 PB 0.5 1.0 PM 1.0 PS 0.5 1.0 0.7 O 1.0 NS 0.7 1.0 0.5 NM 1.5 NB 1.0 0.5

¿ØÖÆÖÐÑ¡ÔñÁË´øÓпɵ÷ÕûÒò×ӦµĿØÖƹæÔò£º U =-[¦ÂE+(1-¦Â)C[E]]£¬¦Â?(0£¬1)£¬Í¨¹ýµ÷Õû¦ÂÖµ¿ÉÒԸıä¶ÔÎó²îºÍÎó²î±ä»¯µÄ²»Í¬¼ÓȨ³Ì¶È¡£¿ØÖƹý³ÌÖУ¬²ÉÓæÂ=0.5ʱÔòÆä¿ØÖƹæÔò¿ÉÒÔÓÃÒ»¸ö½âÎö±í´ïʽ¸ÅÀ¨:U=-[(E+C[E])/2]£¬¼´:Îó²îºÍÎó²î±ä»¯ÔÚ¿ØÖÆÁ¿µÄ¼ÓȨ³Ì¶È¾ùΪ1/2¡£µ÷Õû·½·¨¿É²ÉÓÃÈçÏÂÒ»×éÄ£ºýУÕý¹æÔò: Ri£ºif e(k)is PB and ¦¤e(k)is PS£¬then U=NB

U(*)={U(-3)£¬U(-2)£¬U(-1)£¬0£¬U(+1)£¬U(+2)£¬U(+3)}

Ôò¶ÔÓ¦µÄ¾«È·Á¿Îª£º{-4V£¬-3V£¬-1.5V£¬0V£¬+1.5V£¬+3V£¬+4V}£¬¿ØÖƹæÔòµÄÊä³öÖµDAC1210¶ÔÓ¦D/AË«¼«ÐÔÊä³öµÄÊý×ÖÁ¿µçѹֵ¡£

±í3-4 Îó²îÔöÁ¿µÄÄ£ºý»¯¼°±äÁ¿¸³Öµ±í

C£¨E£©£¨¶È£©

7¡Ü¦Äe¡Ü9 5¡Ü¦Äe¡Ü7 2¡Ü¦Äe¡Ü5 -2¡Ü¦Äe¡Ü2 ¡Ü-5¦Äe¡Ü-2 -7¡Ü¦Äe¡Ü-5 -9¡Ü¦Äe¡Ü-7

E -3 -2 -1 0 1 2 3 PB 1 PM 1 PS 1 O 1 NS 1 NM 1 NB 1

ʵÑéÖвÉÓÃE[¦È]ÒÔ30¡ãΪ½ç룬µ±:E[¦È]¡Ý30¶Èʱ¦Â=0.75£»E[¦È]¡Ü30¶Èʱ£¬¦Â=0.15¡£

31

ÆëÆë¹þ¶û´óѧ±ÏÒµÉè¼Æ£¨ÂÛÎÄ£©

¸ù¾ÝÉÏÊö¿ØÖƹæÔò½øÐÐϵͳ·ÂÕ棬½á¹ûÈçͼ3-5Ëùʾ¡£Í¼ÖÐ×Ý×ø±ê±íʾϵͳµÄÊä³öÏà¶ÔÖµ£¬ºá×ø±ê±íʾϵͳµÄÊä³öʱ¼ä¡£Í¼a±íʾÊäÈ뵥λ½×Ô¾ÐźÅÏ£¬ÎÞ×Ôµ÷ÕûÒò×ÓʱµÄÊä³ö²¨ÐÎͼ£»Í¼b±íʾÔÚͬÑùÌõ¼þÏ£¬¼ÓÈë×Ôµ÷ÕûÒò×ÓºóµÄϵͳÊä³ö²¨ÐÎͼ¡£·ÂÕæ½á¹û±íÃ÷£¬²ÉÓÃ×Ôµ÷ÕûÒò×Óºó£¬ÏµÍ³³¬µ÷Á¿Ã÷ÏÔ¼õС£¬¿ìËÙÐÔÓÐËù¸ÄÉÆ[4]¡£

1.01.02.03.04.05.06.0 7.08.0t/s

(a)

1.01.02.03.04.05.06.0 7.08.0t/s

(b)

ͼ3-5·ÂÕæÇúÏß

3.4 Èí¼þµÄ±à³Ì

ÖÇÄÜ»úеÊֵıà³ÌÖ÷ÒªÊǶÔËĸöËÅ·þµç»úµÄ׼ȷ¿ØÖÆ£¬ÐèÒª¸ù¾ÝÓû§µÄʵµØÇé¿ö²Ù×÷ÔËÐнøÐе÷ÊÔ£¬È·¶¨¶¨Ê±Æ÷µÄʱ¼äµÈµÈ¡£Èí¼þµÄ±à³Ì¼û¸½Â¼¡£

32

ÁªÏµ¿Í·þ£º779662525#qq.com(#Ì滻Ϊ@)