銆€銆€浼烘湇椹�(q奴)鍕曞櫒鐨勯噸瑕佸弮鏁�(sh霉)瑷�(sh猫)缃槸纰轰繚浼烘湇绯荤当(t菕ng)楂樻晥銆佺簿婧�(zh菙n)宸ヤ綔鐨勯棞(gu膩n)閸垫椹�锛屾秹鍙婂埌浣嶇疆鎺у埗銆侀€熷害鎺у埗銆佸姏鐭╂帶鍒剁瓑澶氬€�(g猫)鏂归潰銆備互涓嬫槸涓€浜涗富瑕佸弮鏁�(sh霉)鐨勮ō(sh猫)缃柟娉曞拰鎶€宸э細

銆€銆€1.浣嶇疆姣斾緥澧炵泭(Position Proportional Gain,Kp)

銆€銆€鈼忎綔鐢細

銆€銆€姹哄畾绯荤当(t菕ng)灏嶄綅缃宸殑鍙嶆噳(y墨ng)閫熷害鍜岀簿搴�銆�

銆€銆€鈼忚ō(sh猫)缃妧宸э細

銆€銆€寰炲皬鍒板ぇ閫愭澧炲姞锛岀洿鍒扮郴绲�(t菕ng)鍦ㄧ劇璨�(f霉)杓夋垨杓曡矤(f霉)杓変笅閬�(y霉n)琛岀┅(w臎n)瀹�锛屽悓鏅�(sh铆)閬垮厤鍑虹従(xi脿n)鎸暕銆�

銆€銆€鈼忔娓柟娉曪細

銆€銆€瑙€瀵�浼烘湇闆绘(j墨)鐨勯熆鎳�(y墨ng)锛岃嫢鍑虹従(xi脿n)鎸暕锛屽墖娓涘皬澧炵泭;鑻ラ熆鎳�(y墨ng)绶╂參锛屽墖閬╃暥(d膩ng)澧炲ぇ銆�

銆€銆€2.閫熷害姣斾緥澧炵泭(Velocity Proportional Gain,Kv)

銆€銆€鈼忎綔鐢細

銆€銆€鎺у埗閫熷害鐠�(hu谩n)鐨勯熆鎳�(y墨ng)閫熷害銆�

銆€銆€鈼忚ō(sh猫)缃妧宸э細鍦ㄧ⒑淇濅綅缃鐩婅ō(sh猫)缃悎鐞嗙殑鍩虹(ch菙)涓�锛岃(di脿o)鏁撮€熷害澧炵泭锛屼娇涔嬫棦鑳藉揩閫熼熆鎳�(y墨ng)閫熷害鎸囦护璁婂寲锛屽張涓嶅紩璧烽亷澶х殑閫熷害娉㈠嫊銆�

銆€銆€鈼忔敞鎰忥細閫熷害澧炵泭閬庨珮鍙兘灏�(d菐o)鑷寸郴绲�(t菕ng)涓嶇┅(w臎n)瀹�锛岄亷浣庡墖闊挎噳(y墨ng)鎱�銆�

銆€銆€3.閫熷害绌嶅垎鏅�(sh铆)闁撳父鏁�(sh霉)(Velocity Integral Time,Ki)

銆€銆€鈼忎綔鐢細娑堥櫎閫熷害瑾ゅ樊锛屾彁楂樼郴绲�(t菕ng)绌�(w臎n)瀹氭€�銆�

銆€銆€鈼忚ō(sh猫)缃妧宸э細鍦ㄩ伩鍏嶉€熷害婕傜Щ鐨勫悓鏅�(sh铆)锛岀洝閲忔笡灏戠⿳鍒嗕綔鐢ㄥ付渚嗙殑瓒呰(di脿o)鍜屾尟钑╋紝閫愭澧炲姞鐩磋嚦绯荤当(t菕ng)闊挎噳(y墨ng)骞崇┅(w臎n)銆�

銆€銆€鈼忓钩琛￠粸(di菐n)锛氭壘鍒板鐩婅垏绌�(w臎n)瀹氭€х殑鏈€浣冲钩琛￠粸(di菐n)銆�

銆€銆€4.浣嶇疆鍓嶉澧炵泭(Position Feedforward Gain,Kf)

銆€銆€鈼忎綔鐢細鎻愰珮绯荤当(t菕ng)灏嶅揩閫熻畩鍖栨寚浠ょ殑闊挎噳(y墨ng)閫熷害锛屾笡灏戣窡闅ㄨ宸€�

銆€銆€鈼忚ō(sh猫)缃妧宸э細鏍规摎(j霉)璨�(f霉)杓夋叄閲�銆侀€熷害瑕佹眰鍜岀郴绲�(t菕ng)鍕曞姏瀛�(xu茅)鐗规€ц(di脿o)鏁�锛岄亷楂樺彲鑳藉皫(d菐o)鑷磋秴瑾�(di脿o)锛岄亷浣庡墖闊挎噳(y墨ng)閬茬珐銆�

銆€銆€鈼忔脯瑭︼細閫氶亷瀵�(sh铆)闅涙脯瑭�锛岃瀵熷拰瑾�(di脿o)鏁翠互閬�(d谩)鍒版渶浣虫€ц兘銆�

銆€銆€5.闆绘祦鐠�(hu谩n)鍙冩暩(sh霉)(Current Loop Gains,Kt,Ki)

銆€銆€鈼忎綔鐢細鎺у埗鍔涚煩杓稿嚭锛岀洿鎺ュ奖闊块浕姗�(j墨)鐨勯熆鎳�(y墨ng)閫熷害鍜岀簿搴︺€�

銆€銆€鈼忚ō(sh猫)缃細閫氬父鐢卞埗閫犲晢闋�(y霉)瑷�(sh猫)锛屼絾鍦ㄧ壒娈婃噳(y墨ng)鐢ㄤ腑鍙兘闇€瑕佽(di脿o)鏁达紝浠ラ仼鎳�(y墨ng)楂樺嫊鎱�(t脿i)闊挎噳(y墨ng)瑕佹眰鎴栭噸璨�(f霉)杓�銆�

銆€銆€6.鍏朵粬鎶€宸�

銆€銆€鈼忛€愭瑾�(di脿o)鏁达細閫愪竴瑾�(di脿o)鏁村弮鏁�(sh霉)锛岃瀵熺郴绲�(t菕ng)闊挎噳(y墨ng)锛岄伩鍏嶅悓鏅�(sh铆)鏇存敼澶氬€�(g猫)鍙冩暩(sh霉)灏�(d菐o)鑷村晱椤岄洠浠ュ畾浣嶃€�

銆€銆€鈼忚矤(f霉)杓夋ā鎿細鍦ㄥ(sh铆)闅涢亱(y霉n)琛屽墠锛屼娇鐢ㄨ矤(f霉)杓夋ā鎿垨鍦ㄧ劇璨�(f霉)杓変笅閫�(j矛n)琛屽垵姝ヨ(di脿o)瑭�锛岄€愭澧炲姞璨�(f霉)杓�锛岃瀵熷苟瑾�(di脿o)鏁村弮鏁�(sh霉)銆�

銆€銆€鈼忎娇鐢ㄨ粺浠跺伐鍏凤細鍒╃敤浼烘湇椹�(q奴)鍕曞櫒鑷付鐨勮(di脿o)瑭﹁粺浠舵垨绗笁鏂瑰伐鍏凤紝閫�(j矛n)琛屽弮鏁�(sh霉)鍎�(y艒u)鍖栧拰鏁呴殰瑷烘柗銆�

銆€銆€鈼忚閷勮垏姣旇純锛氳閷勬瘡娆¤(di脿o)鏁村悗鐨勫弮鏁�(sh霉)鍜岀郴绲�(t菕ng)闊挎噳(y墨ng)锛屼究浜庡洖婧拰姣旇純锛屾壘鍒版渶鍎�(y艒u)瑷�(sh猫)缃€�

銆€銆€鈼忓畨鍏ㄧ涓€锛氬湪瑾�(di脿o)鏁撮亷绋嬩腑纰轰繚瀹夊叏鎺柦鍒颁綅锛岄伩鍏嶆剰澶栧偡瀹虫垨瑷�(sh猫)鍌欐悕澹炪€�

銆€銆€姣忕ó浼烘湇椹�(q奴)鍕曞櫒鐨勫叿楂旇ō(sh猫)缃柟娉曞拰鍙冩暩(sh霉)鍚嶇ū鍙兘鏈夋墍涓嶅悓锛屽嫏(w霉)蹇呭弮鑰冭ō(sh猫)鍌欑殑鐢ㄦ埗鎵嬪唺鎴栬伅(li谩n)绯诲埗閫犲晢鐛插彇瑭崇窗(x矛)鎸囧皫(d菐o)銆�