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在控制系统中,由于机械装置固有的摩擦非线性特性,常使一些调速范围较宽的位置控制系统发生低速爬行现象,影响控制系统的动态特性。本文根据产生低速爬行的机理,利用机电相似的方法导出系统的微分方程,用时域法求解,得出了控制系统能平稳运行的最低临界速度与摩擦、惯量、阻尼比及增益等因素的关系式,并绘制了这些关系曲线。所得结论突破了某些传统概念,对从事控制系统设计和电子机械工程设计的技术人员有一定的实用价值。可根据控制系统的诸因素大小估算最低平稳速度,亦可根据技术条件所要求的最低平稳速度对诸结构参数提出予期的指标。
In the control system, due to the inherent non-linear friction characteristics of the mechanical devices, some of the position control systems with a wide range of speed control often cause low-speed creeping, which affects the dynamic characteristics of the control system. In this paper, according to the mechanism of low speed creeping, the differential equations of the system are deduced by the method of electromechanical similarity and solved by the time domain method. The relation between the minimum critical speed and friction, inertia, damping ratio and gain of the control system , And draw the relationship curve. The conclusion has broken through some traditional concepts and has certain practical value to technicians engaged in the design of control systems and the design of electro-mechanical engineering. The minimum steady speed can be estimated according to the factors of the control system, and the structural parameters can be put forward according to the minimum steady speed required by the technical conditions.