直流伺服控制系统仿真研究.doc

直流伺服控制系统仿真研究
摘要
伺服系统是电力拖动自动控制系统的一个重要分支。随着机电一体化技术的发展,伺服系统已成为现代工业、国防和高科技领域中不可缺少的设备,在生产实践中,也得到了广泛的应用。它的根本任务就是实现执行机构对给定量的准确跟踪,输出量一般是负载的空间位移,当给定量随机变化时,系统能够使被控量准确无误地跟随并复现给定量。本文采用MATLAB作为仿真实验平台,对直流伺服控制系统进行仿真研究。
系统的控制采用三环控制,在转速、电流双闭环调速系统的基础上,外边再设一个位置控制环。对这样一个三环系统,按工程设计方法由内环到外环逐一设计。为了保证动态响应速度和定位时不产生震荡,电流环和速度环均采用PI调节,位置环采用P调节。研究采用由美国MathWork公司推出的高性能数值计算软件MATLAB及SIMULINK仿真模块对设计的直流伺服控制系统进行仿真。
结果表明,当系统输入单位阶跃信号时,得到不同位置调节器参数K下的阶跃响应。通过对阶跃响应的分析,得出如下结论:随着K值的增大,系统的响应快,阻尼程度减小;从系统仿真的动态性能指标上看,超调量σ%从无到有,调节时间ts、上升时间tr逐渐减小。
关键词:位置随动,控制系统,仿真,三环控制,直流伺服
SIMULATION RESEARCH OF DC SERVO CONTROL SYSTEM
ABSTRACT
Servo-electric drive system is an important branch of automatic control system. With the development of mechatronics, servo systems have e essential equipments in modern industrial, national defense and high-tech field. It also widely used in the production practice. Its fundamental task is the realization of the implementing agencies to the quantitative accuracy of tracking. Generally, output load is the space displacement. The system can accurately follow and replicate the amount charged, when a random change to the quantitative. In this paper, it is used the MATLAB as a simulation platform to simulate the DC servo control system .
The control of system use three-ring control. On the basis of the speed and current double closed-loop speed control system, it plus a position control loop on the outside. For such a three-ring system, in accordance with methods of engineering design, it is designed from the inner to the outer ring. In order to ensure the speed of dynamic response and do not have a shock when position, current loop and speed loop use PI regulator, and position loop use P regulator. Research use MATLAB that a high-performance numerical software launched by MathWork the United States and Simulink simulation module to simulate the design of DC servo control system.
The results show that when the system input unit step signal, it can get the different step respons