鏈枃閫氶亷(gu貌)瀵�(sh铆)闅涢爡(xi脿ng)鐩(di脿o)瑭﹀(sh铆)韪愶紝浠嬬垂浜嗕腹浣涙柉FC302浣庡璁婇牷鍣ㄤ腑蹇冨嵎绻炴帶鍒跺姛鑳界殑闁�(k膩i)鐧�(f膩)鎬濊矾锛岃┎鐢�(ch菐n)鍝佹€ц兘鍎�(y艒u)鑹�锛屽彲闈犳€ц純楂橈紝鍊煎緱鎺ㄥ唬鍜屾噳(y墨ng)鐢�銆�
涓績鍗风篂鍔熻兘浠嬬垂
鍦�1涓績鍗风篂绯荤当(t菕ng)绀烘剰鍦�
鐢卞湒1鍙互鐪嬪嚭锛屼腑蹇冨嵎绻炴帶鍒舵湁涓夊€�(g猫)澶х殑閮ㄥ垎绲勬垚锛屽嵆锛氬嫉鍔涚郸瀹氳檿鐞�——寮靛姏鎺у埗鍙互闅ㄨ憲鍗峰緫鐨勮畩鍖栬€岃畩鍖�锛涚洿寰戣▓(j矛)绠楀姛鑳藉拰寮靛姏PID鎺у埗銆備腑蹇冨嵎绻炵殑鍩烘湰鐗归粸(di菐n)锛�
寮靛姏鎺у埗鐨勫埛鏂版檪(sh铆)闁撶偤10-30ms
寮靛姏绲﹀畾鏂滃潯鍔熻兘
寮靛姏鎺у埗閷愬害鍔熻兘
寮靛姏妤甸檺鍫�(b脿o)璀�
澶氭潗鏂欏嫉鍔沺id鍙冩暩(sh霉)闆�
閫熷害pidp鍊艰(di脿o)绡€(ji茅)
鍔犻€熻(b菙)鍎熷姛鑳�
鍗峰緫鍒伴仈(d谩)鎸囩ず
澶氬€�(g猫)鍒濆鍗峰緫閬告搰鍙婂嵎寰戞脯(c猫)閲�
鍗峰緫瑷�(j矛)绠楅檺鍒�——鍗峰緫瑷�(j矛)绠楄畩鍖栫殑閫熺巼鍙(di脿o)锛涘嵎寰戣▓(j矛)绠楁柟鍚戜笉绗︽檪(sh铆)闄愬埗
1銆佸嫉鍔涚郸瀹氳檿鐞�
鍦�2寮靛姏绲﹀畾铏曠悊
濡傚湒2锛屽嫉鍔涚郸瀹氳檿鐞嗕害鍗抽寪搴︽帶鍒跺姛鑳斤紝鍏剁洰鐨勫湪浜庝繚璀夊湪鏀跺嵎鏅�(sh铆)锛岀暥(d膩ng)鐩村緫璁婂寲鏅�(sh铆)鍗峰収(n猫i)澶栫殑寮靛姏涓€鑷达紝鎴栧嵎鍏�(n猫i)澶栨澗绶婁竴鑷�锛岄槻姝㈠湪鍎�(ch菙)瀛樻檪(sh铆)鍗疯畩褰€€傚嫉鍔涚郸瀹氳垏鍗峰緫鐨勯棞(gu膩n)绯讳笉鏄窔鎬х殑鑰屾槸闆欐洸绶氱殑銆�
2銆佸嫉鍔涘柈鍏�
鍦�3寮靛姏鍠厓
寰炲湒3鍙互鐪嬪嚭锛孭ID鐨勫(sh铆)闅涚郸瀹氬€兼槸鍦ㄨ€冩叜浜嗛寪搴﹀姛鑳戒箣鍚庣殑绲﹀畾鍊硷紝鍚屾檪(sh铆)par-194鏄竴鍊�(g猫)闈炲父閲嶈鐨勫弮鏁�(sh霉)锛屽皪(du矛)寮靛姏绯荤当(t菕ng)鐨勫奖闊块潪甯稿ぇ銆�
3銆佺洿寰戣▓(j矛)绠楀姛鑳�
鍦�4鐩村緫瑷�(j矛)绠�
鐩村緫瑷�(j矛)绠楁槸鍩轰簬D=linespeed/winderspeedXcore1銆傚悓鏅�(sh铆)鍙湁澶氬€�(g猫)鍒濆鍗峰緫鍙伕銆傜暥(d膩ng)鍗峰緫琚京(f霉)浣嶅悗锛屾湁鏁堢殑鍗峰緫鍊煎氨鏄涓€鍒濆鍗峰緫銆傝▓(j矛)绠楃殑鍗峰緫鍊煎湪姗�(j墨)鍣ㄤ笉鏂烽浕鏅�(sh铆)涓€鐩翠繚鎸�锛屾柗闆诲湪涓婇浕鍚庯紝鑸囧嵎寰戝京(f霉)浣嶇浉鍚�銆�
4銆佺附妗嗗湒
鍦�5涓績鍗风篂绺芥鍦�
涓績鍗风篂閭勫叿鏈夋墜鍕�(d貌ng)姝ｅ弽瑾�(di脿o)绡€(ji茅)鍔熻兘锛屽悓鏅�(sh铆)锛岃畩闋诲櫒鐨勭附绲﹀畾鏄垏鍗峰緫鎵€灏�(du矛)鎳�(y墨ng)鐨勯€熷害绲﹀畾鍔犱笂PID鐨勮(di脿o)绡€(ji茅)閲忋€�
骞惧€�(g猫)閲嶈鐨勬妧琛�(sh霉)鍙冩暩(sh霉)
1銆佽垏鍗峰緫瑷�(j矛)绠楃浉闂�(gu膩n)鐨勪笁鍊�(g猫)鍙冩暩(sh霉)
1924锛歭inespeedscale
姝ゅ弮鏁�(sh霉)鏄 閲忔渶澶х窔閫熷害鑸囩窔閫熷害绲﹀畾鑴堟矕鐨勪竴鍊�(g猫)绯绘暩(sh霉)銆傚叾鎰忕京鏄暥(d膩ng)绶氶€熷害绲﹀畾绶ㄧ⒓鍣ㄦ瘡杞�(zhu菐n)绶氭暩(sh霉)纰哄畾鏅�(sh铆)锛岀暥(d膩ng)姗�(j墨)鍣ㄩ亱(y霉n)琛岀殑閫熷害鐐烘渶澶х窔閫熷害鏅�(sh铆)锛屽嵎寰戣▓(j矛)绠楃殑绶氶€熷害鍊肩偤100000銆�
鍙互閫氶亷(gu貌)浠ヤ笅鐨勫叕寮忎締(l谩i)寰楀嚭锛�
1926-winderspeedscale
鑸�1924鐩搁浼�锛屾鍙冩暩(sh霉)鏄暥(d膩ng)鍗峰緫鏈€灏忥紝鍗抽浕姗�(j墨)閫熷害鏈€澶ф檪(sh铆)锛屼笖鍙嶆槧闆绘(j墨)閫熷害鐨勭法纰煎櫒鐨勬瘡杞�(zhu菐n)绶氭暩(sh霉)纰哄畾鏅�(sh铆)锛岃(di脿o)绡€(ji茅)姝ゅ弮鏁�(sh霉)浣垮嵎寰戣▓(j矛)绠楀柈鍏冧腑闆绘(j墨)閫熷害鍊肩偤100000銆�
姝ゅ弮鏁�(sh霉)涔熷彲閫氶亷(gu貌)涓嬪垪鍏紡寰楀嚭锛�
1925—speedmatchscale
姝ゅ弮鏁�(sh霉)鏄⒑瀹氱暥(d膩ng)绶氶€熷害绲﹀畾鏈€澶ф檪(sh铆)锛岄浕姗�(j墨)鍦ㄥ嵎寰戞渶灏忔檪(sh铆)鎳�(y墨ng)瑭查亱(y霉n)琛岀殑閫熷害銆傛鍙冩暩(sh霉)鑸囨(j墨)姊板偝鍕�(d貌ng)姣斿拰PID鐨勮(di脿o)绡€(ji茅)閲忎互鍙婅畩闋诲櫒鏈€澶ч€熷害瑷�(sh猫)瀹氬€兼湁闂�(gu膩n)銆�
闇€瑕佽€冩叜鐨勫洜绱犳湁浠ヤ笅骞惧€�(g猫)锛�
鐣�(d膩ng)鍗峰緫鏈€灏忔槸鏍规摎(j霉)姗�(j墨)姊板弮鏁�(sh霉)纰哄畾闆绘(j墨)灏�(du矛)鑻辫獮(y菙)鏈€澶х窔閫熷害鎳�(y墨ng)瑭查亱(y霉n)琛岀殑閫熷害锛屾閫熷害涓€鑸締(l谩i)瑾�(shu艒)鏄畩闋诲櫒瑷�(sh猫)瀹氱殑鏈€澶ч浕姗�(j墨)閫熷害锛堝弮鏁�(sh霉)3-03锛夌殑90%锛屽嵆鐣欑郸pid鐨勬渶澶ц(di脿o)绡€(ji茅)閲忔槸闆绘(j墨)鏈€澶ч€熷害鐨�10%锛屽悓鏅�(sh铆)涔熸噳(y墨ng)瑭叉敞鎰忓弮鏁�(sh霉)1940锛坧idoutputlimit锛夋渶澶ф噳(y墨ng)瑷�(sh猫)鐐�16384X10%銆�
2銆佽垏pid鎺у埗鐩搁棞(gu膩n)鐨勯渶鐗瑰垾娉ㄦ剰鐨勫咕鍊�(g猫)鍙冩暩(sh霉)
1941--PIDeffectversesdiameter
姝ゅ弮鏁�(sh霉)鐢ㄤ簬纰哄畾pid涔媝鍊煎皪(du矛)鎳�(y墨ng)浜庡嵎寰戣畩鍖栫殑鍊�锛屽洜?y脿n)妤�?d膩ng)鍗峰緫澶ф檪(sh铆)锛岀暥(d膩ng)寮靛姏鏈夎畩鍖栬€岄渶瑾�(di脿o)绡€(ji茅)閫熷害鏅�(sh铆)锛宲id鐨勮(di脿o)绡€(ji茅)閲忔渻(hu矛)姣斿嵎寰戝皬鏅�(sh铆)瑾�(di脿o)绡€(ji茅)閲忔渻(hu矛)灏忎竴浜涳紝鍗抽渶灏忕殑p鍊�銆傚弽涔嬬暥(d膩ng)鍗峰緫灏忔檪(sh铆)锛屽墖闇€pid瑾�(di脿o)绡€(ji茅)閲忓ぇ涓€浜�銆傚湒6鍙互鐩磋鍦拌(shu艒)鏄庨€欑ó闂�(gu膩n)绯�銆�
鍦�6pid涔媝鍊煎皪(du矛)鎳�(y墨ng)鍗峰緫璁婂寲
linespeedaccelerationfeedforward
姝ゅ弮鏁�(sh霉)鐢ㄤ簬瑁�(b菙)鍎熺窔閫熷害璁婂寲鏅�(sh铆)寮曡捣鐨勫嫉鍔涙尝鍕�(d貌ng)銆傚洜?y脿n)妤�?d膩ng)绶氶€熷害鎬ラ€熻畩鍖栨檪(sh铆)锛屽鏋減id鐨勮(di脿o)绡€(ji茅)鍔熻兘涓嶈冻浠ヤ繚鎸佸嫉鍔涚殑绌�(w臎n)瀹氾紝鍓囧彲鑰冩叜浣跨敤閫欎竴鍔熻兘銆傚叾鍘熺悊鏄郸pid鐨勮几鍑轰箣涓婄枈鍔犱竴鍊�(g猫)鑸囩窔閫熷害璁婂寲鐩搁棞(gu膩n)鐨勯€熷害瑾�(di脿o)绡€(ji茅)閲忥紝瀵�(sh铆)韪愯瓑鏄庢鍔熻兘鍙互寰堝ソ鍦拌捣鍒拌(b菙)鍎熶綔鐢�銆�
1948锛�1949澶�锛屽皬鍗峰皪(du矛)鎳�(y墨ng)鐨勯€熷害鐠�(hu谩n)pid涔媝鍊�
姝や簩鍙冩暩(sh霉)鍒嗗垾鏄浕姗�(j墨)鎺у埗鏂瑰紡鐐洪€熷害闁夌挵(hu谩n)鏅�(sh铆)锛屽皪(du矛)鎳�(y墨ng)浜庣┖杓ュ拰婊胯讥鏅�(sh铆)閫熷害pid鐨刾鍊笺€傚叾鍊煎緱鐛插緱鏄鍦ㄨ(di脿o)瑭﹂枊(k膩i)濮嬫檪(sh铆)鍒嗗垾鍦ㄧ┖杓ュ拰婊胯讥鏅�(sh铆)鍒╃敤MCT10绀烘尝鍣ㄥ姛鑳芥垨鍚屾鎺у埗鍗＄殑pid瑾�(di脿o)瑭︾晫闈締(l谩i)纰哄畾銆傚叾鍊兼槸鍚︽簴(zh菙n)纰虹洿鎺ラ棞(gu膩n)涔庡ぇ锛屽皬鍗锋檪(sh铆)寮靛姏鐨勭┅(w臎n)瀹氭€�锛屾浜屽弮鏁�(sh霉)鍙拰1941閰嶅悎浣跨敤銆�
鍏朵粬鐨勮垏鍗风篂鐩搁棞(gu膩n)鐨勫弮鏁�(sh霉)鐨勮ō(sh猫)缃垏闈炲嵎绻炴帶鍒舵檪(sh铆)璁婇牷鍣ㄧ殑瑾�(di脿o)瑭﹁ō(sh猫)缃柟娉曠浉鍚岋紙濡傞浕姗�(j墨)鍙冩暩(sh霉)瑷�(sh猫)缃�锛孉MA,闁夌挵(hu谩n)閫熷害瑷�(sh猫)缃瓑绛夛級灏囦笉鍐嶈磪杩�銆�
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