湖南大学大三暑假机电课程设计报告.docx
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湖南大学大三暑假机电课程设计报告.docx
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湖南大学大三暑假机电课程设计报告
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3-2PID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:
00000.00317370.0111460.0295870.0592230.0973570.129350.189440.257740.296190.431280.463520.630870.739440.798180.94650.965511.06061.13281.30021.46751.63491.74251.80221.951.96952.06712.13682.30422.47152.63892.74522.80622.95322.97353.07483.14083.30823.47553.64293.74683.81023.95573.97754.08654.14484.31224.47954.61164.64684.81424.92354.94734.94734.94734.98155.01575.08415.14885.20925.26965.31615.37845.44075.48355.54555.60765.65085.71295.77495.81815.88025.94225.98556.04756.10956.15286.21486.27676.32016.38216.4446.48756.54946.61146.65486.71676.77876.82216.88416.9466.98957.05147.11337.15687.21877.28067.32417.38617.4487.49157.55347.61537.65887.72077.78277.82617.88817.957.99358.05548.08758.08758.14958.16088.21638.26988.32328.36418.40368.4578.47318.51138.54818.59768.60968.64598.68098.72718.73388.76648.80048.84698.87798.90778.94998.97859.0069.04369.079.09559.12889.15339.17689.20659.2299.25079.27719.2989.3189.34149.36079.37929.39999.41779.43489.45329.46969.48549.50179.51699.53149.54599.55989.57339.5869.59899.61139.62269.63459.6469.65599.66699.67749.68629.69639.70619.71379.72319.73219.73889.74759.75589.76179.76969.77739.78259.78989.79689.80149.8089.81449.81869.82479.83059.83439.83989.84519.84869.85369.85849.86169.86619.87069.87349.87769.88169.88419.88799.89169.89399.89749.90079.90299.9069.90919.9119.91399.91669.91849.9219.92359.92519.92759.92989.93129.93349.93559.93689.93889.94079.94189.94379.94549.94659.94819.94979.95079.95229.95369.95459.95599.95729.9589.95929.96049.96119.96239.96349.9649.96519.96619.96669.96769.96859.9699.96999.97079.97129.9729.97279.97329.97399.97469.9759.97569.97639.97669.97729.97789.97819.97879.97929.97959.989.98059.98079.98129.98169.98189.98239.98279.98299.98329.98369.98389.98419.98459.98469.9859.98539.98549.98579.9869.98619.98649.98669.98689.9879.98729.98749.98769.98789.98799.98819.98839.98849.98859.98879.98889.9899.98919.98929.98949.98959.98969.98979.98989.98999.999.99029.99029.99039.99049.99059.99069.99079.99079.99089.99099.9919.99119.99119.99129.99139.99139.99149.99149.99159.99159.99169.99179.99179.99189.99189.99189.99199.9929.9929.9929.99219.99219.99219.99229.99229.99229.99239.99239.99239.99249.99249.99249.99259.99259.99259.99269.99269.99269.99269.99269.99279.99279.99279.99279.99279.99289.99289.99289.99289.99299.99299.9939.9939.9939.9939.9939.9939.99319.99319.99319.99319.99319.99319.99319.99319.99329.99329.99329.99329.99329.99329.99329.99329.99329.99329.99329.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99339.99579.99579.99579.99579.99579.99579.99579.99579.99579.99589.99579.99579.99589.99579.99579.99589.99579.99589.99589.99579.99589.99589.99579.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99589.99599.99589.99589.99599.99589.99589.99599.99589.99599.99599.99589.99599.99599.99589.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.99599.9969.99599.99599.9969.99599.99599.9969.99599.99599.9969.99599.9969.9969.99599.9969.9969.99599.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.9969.99619.9969.9969.99619.9969.9969.99619.9969.99619.99619.9969.99619.99619.9969.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.99619.9961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由于数据量太大,故只截留了一部分数据打印出来。
3.2方波信号输入的PID参数整定
根据同样的方法,替换原仿真系统的输入信号源为阶跃信号,整定PID参数,最终输出曲线对比图如下图3-5:
图3-5方波信号输入的输出曲线对比图
3.2正弦信号输入的PID参数整定
根据同样的方法,替换原仿真系统的输入信号源为正弦信号,整定PID参数,最终输出曲线对比图如下图3-6:
图3-6正弦信号输入的输出曲线对比图
为了清晰的看出输出对输入的跟随,将局部放大图做出,如下图3-7所示:
图3-6正弦信号输入的输出曲线局部放大对比图
第四章物理系统的控制
4.1物理系统的组成与控制原理
4.2实时控制程序流程图
进行控制程序的编写之前,先要有一个清晰的思路,使用流程图的方式能够较好的将编程思路理清楚,并且提高编程效率,减少出错率。
实时控制程序流程图如下图4-1所示:
4.2程序代码的编写
基于课堂理论知识以及实验成果的累积,采样滤波子程序已经在上学期的实验课堂上编写完毕,现在只需要编写输入信号,PID控制子程序,AC6011的D/A输出程序即可。
在我的编程,我将阶跃、方波、正弦输入输出的PID控制编写在了一个大的主程序中,通过程序的运行,使用人机交互的形式选择输入信号,设置PID参数,进行PID参数整定。
代码粘贴如下:
#include"stdafx.h"//必须加入的头文件
#include"conio.h"
#include"windows.h"//应加入的头文件
#include"stdio.h"
#include"io_nt.h"
#include"AC6011.h"
#include"math.h"
HINSTANCEhDLL;//DLL句柄
HANDLENTportio=NULL;//NTIO驱动句柄--->暂定为全局变量,自定义时,可以自己传递参数
unsignedlongidd[100];
floatCYLB();
voidinit();
floatPID_realize(floatad);
voidarrive_distance(floatsetd);
voidzf_arrive_distance(floatsetd);
voiddf_arrive_distance(floatsetd);
voidDA(intsetd);
floatsum=0.0,u,pid0,pid1=0.0,kp=10,ki=0,kd=0,p,aim=100;
floate0=0.0,e1=0.0,e2=0.0;
floatnum1,fuzhi,zhouqi,err,err1,out,zero_plot,zero_plot1;
intflag,addata,datada,i,num,k;
intwave;
constfloatpi=3.14;
floatset,actdistance,t,T,A,ave;
FILE*fp1;
FILE*fp2;
FILE*fp3;
FILE*fp4;
voidmain()
{
unsignedlongcardc;
char*dll_name="acpci.dll";//动态连接库名
hDLL=LoadLibrary(dll_name);//调入DLL,动态调用
#include"ac6011_func.h"
#include"io_nt_func.h"
#include"math.h"
NTportio=AC_OpenDriver();//获取IO驱动句柄
cardc=AC_6011_INIT(NTportio,idd);//初始化AC6011卡
//------------------用户主函数可以写在以下区域----------------
flag=1;
charchr;
while(flag)
{
if((fp1=fopen("E:
\\set.txt","w"))==NULL)
{printf("\nERROR:
Can'topenfile,pressanykeytoreturn!
");
exit(0);
}
if((fp2=fopen("E:
\\act.txt","w"))==NULL)
{printf("\nERROR:
Can'topenfile,pressanykeytoreturn!
");
exit(0);
}
init();
wave=0;
DA(1300);
printf("请选择输入的波形?
(阶跃:
j;方波:
f;正弦:
z):
\n");
printf("\n");
chr=getch();
if(chr=='j'){wave=1;}
if(chr=='f'){wave=2;}
if(chr=='z'){wave=3;}
switch(wave)
{
case1:
DA(1300);
printf("Kp=9Ki=0.005\n");
scanf("%f%f",&kp,&ki);
printf("请指定到达的位置(0--200mm):
");
scanf("%f",&set);
for(j=0;j<500;j++)
{
arrive_distance(set);
printf("%d\n",j);
}
DA(2048);
break;
case2:
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