自动化博览
自動化博覽
자동화박람
AUTOMAITON PANORAMA
2013年
10期
100-103
,共4页
柔性连接%弹性扭矩系统%振荡性%双微分PID反馈
柔性連接%彈性扭矩繫統%振盪性%雙微分PID反饋
유성련접%탄성뉴구계통%진탕성%쌍미분PID반궤
Elastic connection%Elastic torque device%Oscillation%Double Derivative Feedback (DDF)
贝加莱（B&R）公司将工业中柔性连接驱动加以抽象，设计开发出了一套多质量弹性扭矩装置，其具有强震荡性，依据对象特性，本文采用双微分反馈（DDF）控制方案，在B&R公司的X20控制器上开发相应模块，用C语言编写了控制程序，实验结果表明该控制方案能使系统在极短的时间内达到预设速度，实现了无超调的控制效果，并具有较高的稳态精度。将双轮负载扩展为三轮负载后，微调控制器参数仍可得到理想的控制效果，体现了控制系统具有良好的鲁棒性，控制器具有优秀的控制性能。
貝加萊（B&R）公司將工業中柔性連接驅動加以抽象，設計開髮齣瞭一套多質量彈性扭矩裝置，其具有彊震盪性，依據對象特性，本文採用雙微分反饋（DDF）控製方案，在B&R公司的X20控製器上開髮相應模塊，用C語言編寫瞭控製程序，實驗結果錶明該控製方案能使繫統在極短的時間內達到預設速度，實現瞭無超調的控製效果，併具有較高的穩態精度。將雙輪負載擴展為三輪負載後，微調控製器參數仍可得到理想的控製效果，體現瞭控製繫統具有良好的魯棒性，控製器具有優秀的控製性能。
패가래（B&R）공사장공업중유성련접구동가이추상，설계개발출료일투다질량탄성뉴구장치，기구유강진탕성，의거대상특성，본문채용쌍미분반궤（DDF）공제방안，재B&R공사적X20공제기상개발상응모괴，용C어언편사료공제정서，실험결과표명해공제방안능사계통재겁단적시간내체도예설속도，실현료무초조적공제효과，병구유교고적은태정도。장쌍륜부재확전위삼륜부재후，미조공제기삼수잉가득도이상적공제효과，체현료공제계통구유량호적로봉성，공제기구유우수적공제성능。
ing the soft connection drive in industry, the B&R Company has designed a set of more quality elastic torque device that has very strong oscillation. According to the object characteristics, the double derivative feedback (DDF)control scheme is adopted. This algorithm is developed on the X20 controller of B&R and realized by C language. The experimental results show that this control scheme can make the system nonovershooting and achieve the preset speed and high steady precision in a very short period of time and obtain the better control effect. Extending the load to three wheels, we can also get ideal control effect by adjusting the parameters of the controller. This illustrates that the control system has good robustness, the controller has excellent control performance.
