鎽�  瑕�: 鏈枃鏄互绶氭€х郴绲�(t菕ng)鐐鸿鎺у皪璞�锛屼互浜屾鍨嬫硾鍑芥寚妯欑偤鎬ц兘鎸囨鐨勬渶鍎�(y艒u)鎺у埗鍟忛锛屽埄鐢ㄧ窔鎬т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鐞嗚珫瀵︾従(xi脿n)纾佹嚫娴郴绲�(t菕ng)鐨勫钩绌�(w臎n)鎺у埗銆傜敱浜庣壒娈婄殑鎸囨褰㈠紡鍜岀郴绲�(t菕ng)灏嶈薄鐨勭窔鎬ф€ц唱(zh矛)锛屼娇鎵€瑷庤珫鐨勫付鏈夌瓑寮忕磩鏉熺殑鍕曟厠(t脿i)鍎�(y艒u)鍖栧晱椤屽彲浠ョ嵅寰楀熀浜嶳iccati鏂圭▼琛ㄩ仈鐨勭窔鎬х媭鎱�(t脿i)鍙嶉锛屽苟鍦ㄦ鍩虹(ch菙)涓婂缓绔嬩簡鐩告噳(y墨ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛屽悓鏅�锛屽埄鐢∕ATLAB浠跨湡鍜孭ID鎺у埗浠跨湡绲�(ji茅)鏋滈€茶姣旇純锛岃┎鏂规鍙互寰楀埌鏇寸偤婊挎剰鐨勭祼(ji茅)鏋�銆�

闂�(gu膩n)閸佃: 绶氭€т簩娆″瀷锛岀鎳告诞锛屾渶鍎�(y艒u)鎺у埗锛孧ATLAB

1  鍓嶈█

     杩戝勾渚�锛岀鎳告诞鎶€琛�(sh霉)寰楀埌浜嗚繀閫熺櫦(f膩)灞曪紝骞跺緱鍒拌秺渚嗚秺寤ｆ硾鐨勬噳(y墨ng)鐢�銆傜鎳告诞鐢变簬鍏剁劇鎺ヨЦ鐨勭壒榛�锛岄伩鍏嶄簡鐗╅珨涔嬮枔鐨勬懇鎿﹀拰纾ㄦ悕锛岃兘寤堕暦瑷�(sh猫)鍌欑殑浣跨敤澹藉懡锛屾敼鍠勮ō(sh猫)鍌欑殑閬嬭姊濅欢锛屽洜鑰屽湪浜ら€氥€佸喍閲�銆佹姊般€侀浕鍣�銆佹潗鏂欑瓑鍚勫€嬫柟闈㈡湁钁楀唬闂婄殑鎳�(y墨ng)鐢ㄥ墠鏅�銆傜洰鍓嶅湅澶栧湪纾佹嚫娴柟闈㈢殑鐮旂┒宸ヤ綔涓昏闆嗕腑鍦ㄧ鎳告诞鍒楄粖鏂归潰锛岄€插睍鏈€蹇�锛屽繁寰炲椹楃爺绌堕殠娈佃綁(zhu菐n)鍚戣│椹楅亱琛岄殠娈点€�

     浠ョ窔鎬т簩娆″瀷鎬ц兘鎸囨鐐哄熀绀�(ch菙)鐨勬渶鍎�(y艒u)鎺у埗鍟忛鏄簩鍗佷笘绱€50 骞翠唬鏈湡鐧�(f膩)灞曡捣渚嗙殑涓€绋ō(sh猫)瑷堟帶鍒剁郴绲�(t菕ng)鐨勬柟娉�, 瀹冩妸鎵€寰楀埌鐨勬渶鏈夊弽楗嬫帶鍒惰垏闈炵窔鎬х殑闁嬬挵(hu谩n)鏈€鍎�(y艒u)鎺у埗绲�(ji茅)鍚堣捣渚�锛屽彲娓涘皯闁嬬挵(hu谩n)鎺у埗鐨勮宸�锛岄仈鍒版洿绮剧⒑鐨勬帶鍒剁洰鐨�銆�

     鏈枃鏄互鍥洪珮绉戞妧纾佹嚫娴暀瀛�(xu茅)瀵﹂瑷�(sh猫)鍌欑偤妯″瀷鍩虹(ch菙)锛岀祼(ji茅)鍚堢窔鎬т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鐨勪竴鑸悊璜�锛屽鐝�(xi脿n)纾佹嚫娴郴绲�(t菕ng)鐨勫钩绌�(w臎n)鎺у埗锛屽苟閫氶亷鑸囩稉(j墨ng)鍏窹ID鎺у埗姣旇純锛岀悊璜栧垎鏋愬強MATLAB浠跨湡锛屽緱鍒版洿鐐烘豢鎰忕殑绲�(ji茅)鏋�銆�

2  纾佹嚫娴郴绲�(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷

     纾佹嚫娴悆鎺у埗绯荤当(t菕ng)鏄爺绌剁鎳告诞鎶€琛�(sh霉)寰堝吀鍨嬬殑骞宠嚭锛屽畠鏄竴鍊嬪吀鍨嬬殑鍚告诞寮忔嚫娴郴绲�(t菕ng)銆�

     瀹冪殑绯荤当(t菕ng)绲�(ji茅)妲�(g貌u)鍦栧鍦�1鎵€绀�锛屼富瑕佺敱LED鍏夋簮銆侀浕纾侀惖銆佸厜闆讳綅缃偝鎰熷櫒銆侀浕婧�銆佹斁澶у強瑁滃劅瑁濈疆銆佹暩(sh霉)鎿�(j霉)閲囬泦鍗″拰鎺у埗灏嶈薄锛堥嫾鐞冿級绛夊厓浠剁祫鎴�

鍦�1纾佹嚫娴椹楃郴绲�(t菕ng)绲�(ji茅)妲�(g貌u)鍦�

2.1绯荤当(t菕ng)鐨勫伐浣滃師鐞�

     闆荤閻电篂绲勪腑閫氫互涓€瀹氱殑闆绘祦鏈冪敘(ch菐n)鐢熼浕纾佸姏F锛屽彧瑕佹帶鍒堕浕纾侀惖绻炵祫涓殑闆绘祦锛屼娇涔嬬敘(ch菐n)鐢熺殑闆荤鍔涜垏閶肩悆鐨勯噸鍔沵g鐩稿钩琛�,閶肩悆灏卞彲浠ユ嚫娴湪绌轰腑鑰岃檿浜庡钩琛＄媭鎱�(t脿i)銆傜偤浜嗗緱鍒颁竴鍊嬬┅(w臎n)瀹氱殑骞宠　绯荤当(t菕ng)锛屽繀闋堝鐝�(xi脿n)闁夌挵(hu谩n)鎺у埗锛屼娇鏁村€嬬郴绲�(t菕ng)绌�(w臎n)瀹氬叿鏈変竴瀹氱殑鎶楀共鎿捐兘鍔�銆傛湰绯荤当(t菕ng)涓噰鐢ㄥ厜婧愬拰鍏夐浕浣嶇疆鍌虫劅鍣ㄧ祫鎴愮殑鐒℃帴瑙告脯閲忚缃娓嫾鐞冭垏闆荤閻典箣闁撶殑璺濋洟x鐨勮畩鍖�銆傞浕纾侀惖涓帶鍒堕浕娴佺殑澶у皬浣滅偤纾佹嚫娴帶鍒跺皪璞＄殑杓稿叆閲�銆�

2.2 绯荤当(t菕ng)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷

     瀵﹂殯绯荤当(t菕ng)鐨勬ā鍨嬪弮鏁�(sh霉)濡備笅锛�

     鐢变簬杓稿叆閲忕洿鎺ユ槸闆荤閻电殑鎺у埗闆绘祦锛屾矑鏈夎€冩叜鎰熸姉灏嶇郴绲�(t菕ng)鐨勫奖闊�锛岃€屽緸鎰熸€у厓浠跺劜鑳界殑瑙掑害鍔犱互鍒嗘瀽寤烘ā銆備笖鍋囪ō(sh猫)鍔熺巼鏀惧ぇ鍣ㄧ殑杓稿嚭闆绘祦鑸囪几鍏ラ浕澹撲箣闁撳憟鍤存牸鐨勭窔鎬ч棞(gu膩n)绯讳笖鐒″欢閬�銆�

     绯荤当(t菕ng)鍙敤涓嬪垪鏂圭▼渚嗘弿杩帮細

      鎷夋櫘鎷夋柉璁婃彌鍚庡緱锛�

      鐢遍倞鐣屾柟绋�浠ｅ叆寰楃郴绲�(t菕ng)鐨勯枊鐠�(hu谩n)鍌抽仦鍑芥暩(sh霉)锛�

     瀹氱京绯荤当(t菕ng)灏嶈薄鐨勮几鍏ラ噺鐐哄姛鐜囨斁澶у櫒鐨勮几鍏ラ浕澹撲篃鍗虫帶鍒堕浕澹�锛岀郴绲�(t菕ng)灏嶈薄杓稿嚭閲忕偤鎵€鍙嶆槧鍑轰締鐨勮几鍑洪浕澹撶偤(鍌虫劅鍣ㄥ悗铏曠悊闆昏矾杓稿嚭闆诲)锛屽墖瑭茬郴绲�(t菕ng)鎺у埗灏嶈薄鐨勬ā鍨嬪彲瀵偤锛�    

     鐢变笂鎵€寰�锛屽彇绯荤当(t菕ng)鐙€鎱�(t脿i)璁婇噺鍒嗗垾锛岀郴绲�(t菕ng)鐨勭媭鎱�(t脿i)鏂圭▼濡備笅锛�

     灏囦互涓婂弮鏁�(sh霉)甯跺叆鍙緱鍒� 

     鐢变互涓婂彲浠ョ湅鍑�锛岀郴绲�(t菕ng)鐨勭媭鎱�(t脿i)瀹屽叏鍙帶鎬х煩闄ｇ殑绉╃瓑浜庣郴绲�(t菕ng)鐨勭媭鎱�(t脿i)璁婇噺缍暩(sh霉)锛岀郴绲�(t菕ng)鐨勮几鍑哄畬鍏ㄥ彲鎺ф€х煩闄ｇ殑绉╃瓑浜庣郴绲�(t菕ng)杓稿嚭鍚戦噺鐨勭董鏁�(sh霉)锛屾墍浠ョ鎳告诞瀵﹂绯荤当(t菕ng)鏃㈡槸鍙帶鐨勫張鏄彲瑙€鐨�锛屽洜姝ゅ彲浠ュ皪绯荤当(t菕ng)閫茶鎺у埗鍣ㄨō(sh猫)瑷�锛屼娇绯荤当(t菕ng)绌�(w臎n)瀹�銆�

3  绶氭€т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鏂规硶

3.1 绶氭€т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鍣ㄧ殑绲�(ji茅)妲�(g貌u)

     鍏剁祼(ji茅)妲�(g貌u)妗嗗湒濡傚湒2鎵€绀�

 鍦�2绶氭€т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鍣ㄧ殑绲�(ji茅)妲�(g貌u)鍦�

3.2 绶氭€т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鏂规硶

     瑷�(sh猫)绶氭€ф檪涓嶈畩绯荤当(t菕ng)鐨勭媭鎱�(t脿i)绌洪枔鏂圭▼鐐猴細

     鍏朵腑锛�鏄�n缍殑鐙€鎱�(t脿i)鍚戦噺锛�鏄�m缍殑鎺у埗鍚戦噺锛�鏄�缍拰缍煩闄ｅ悜閲忋€�

     瑷�(sh猫)瑷堢媭鎱�(t脿i)瑾�(di脿o)绡€(ji茅)鍣�锛岀窔鎬т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鐨勭洰鐨勬槸瑷�(sh猫)瑷�锛屼娇绶氭€т簩娆″瀷鐨勬€ц兘鎸囨

     鏈€灏�,鍏朵腑_锛�鍜屽垎鍒ユ槸灏嶇媭鎱�(t脿i)璁婇噺鍜岃几鍏ュ悜閲忕殑鍔犳瑠(qu谩n)鐭╅櫍锛屽皪鏈€鍎�(y艒u)鎺у埗鑰岃█锛�鐐哄崐姝ｅ畾鐨勫皪绋卞父鏁�(sh霉)鐭╅櫍锛�鐐哄崐姝ｅ畾鐨勫皪绋卞父鏁�(sh霉)鐭╅櫍锛�F鐐烘瀹氱殑灏嶇ū鐭╅櫍銆傛(g貌u)閫犲搱瀵嗛爴鍑芥暩(sh霉)

     姹傝ВRiccati鐭╅櫍寰垎鏂圭▼锛�

     寰楀埌鏈€鍎�(y艒u)鎺у埗锛�

     寮忎腑鐐虹媭鎱�(t脿i)鍙嶉绯绘暩(sh霉)鐭╅櫍锛屽畠鍙敤涓嬮潰寮忓瓙渚嗘弿杩帮細

4  绯荤当(t菕ng)鐨凪ATLAB浠跨湡

      鐢卞湒2涓緱绯荤当(t菕ng)妯″瀷鐐猴細

      鐝�(xi脿n)鍋囪ō(sh猫)绯荤当(t菕ng)鐨勬渶鍎�(y艒u)鎺у埗寰嬬偤锛屾眰鍙嶉澧炵泭鐭╅櫍,浣垮緱鎬ц兘鎸囨锛�

      閬稿彇锛屽湪Matlab鐠�(hu谩n)澧冧笅绶ㄥ绋嬪簭閫茶绶氭€т簩娆″瀷鏈€鍎�(y艒u)鎺у埗鍣ㄨō(sh猫)瑷堜豢鐪�,寰楁渶鍎�(y艒u)鎺у埗鍣ㄧ殑鍙嶉澧炵泭鐭╅櫍K鐨勫€肩偤锛欿 =[10.3998  1.0042]锛屾矕鎿婇熆鎳�(y墨ng)浠跨湡绲�(ji茅)鏋滃鍦�3鎵€绀猴細

鍦�3 娌栨搳闊挎噳(y墨ng)浠跨湡鏇茬窔锛堜竴锛�

  閬稿彇_锛�寰楁渶鍎�(y艒u)鎺у埗鍣ㄧ殑鍙嶉澧炵泭鐭╅櫍K 鐨勫€肩偤锛欿 =[ 32.0173  1.0127]锛屾矕鎿婇熆鎳�(y墨ng)浠跨湡绲�(ji茅)鏋滃鍦�4鎵€绀猴細

鍦�4 娌栨搳闊挎噳(y墨ng)浠跨湡鏇茬窔锛堜簩锛�

閬稿彇锛屽緱鏈€鍎�(y艒u)鎺у埗鍣ㄧ殑鍙嶉澧炵泭鐭╅櫍K 鐨勫€肩偤锛欿 =[ 100.3929  1.0394]锛屾矕鎿婇熆鎳�(y墨ng)浠跨湡绲�(ji茅)鏋滃鍦�5鎵€绀猴細

鍦�5 娌栨搳闊挎噳(y墨ng)浠跨湡鏇茬窔锛堜笁锛�

      姣旇純浠跨湡绲�(ji茅)鏋滅櫦(f膩)鐝�(xi脿n)锛屽湒5娌栨搳闊挎噳(y墨ng)闇€瑕佺殑绌�(w臎n)瀹氭檪闁撹純鐭紝骞朵笖鍦ㄧ┅(w臎n)瀹氭檪闁撳収(n猫i)绯荤当(t菕ng)鐨勫箙鍊艰畩鍖栬純灏�锛岃純濂界殑婊胯冻浜嗙郴绲�(t菕ng)鐨勫钩绌�(w臎n)鎺у埗锛岀敱姝ゅ彲瑕嬫湰鏂囨渶鍎�(y艒u)鎺у埗鏂规硶寰堝ソ鐨勯仈鍒颁簡绯荤当(t菕ng)鐨勮姹傘€�

      鐣�(d膩ng)绯荤当(t菕ng)閲囩敤PID瑾�(di脿o)绡€(ji茅)鍣ㄧ殑鏅傚€�锛岀郴绲�(t菕ng)绲�(ji茅)妲�(g貌u)濡傚湒6鎵€绀猴細

鍦�6 PID绯荤当(t菕ng)绲�(ji茅)妲�(g貌u)鍦�

      缍�(j墨ng)澶氭瑷�(sh猫)缃甈ID鍙冩暩(sh霉)閫茶浠跨湡姣旇純锛岀暥(d膩ng)PID鍙冩暩(sh霉)鏅�锛岀郴绲�(t菕ng)鎺у埗鎬ц兘寰楀埌鏈€浣崇祼(ji茅)鏋滐紝浠跨湡绲�(ji茅)鏋滃鍦�7鎵€绀猴細

鍦�7 娌栨搳闊挎噳(y墨ng)浠跨湡鏇茬窔锛堝洓锛�

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绲�(ji茅)鏉熻獮

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