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提出一种多质量弹性扭转系统的鲁棒PID控制器设计方案来控制第二个质量块的角速度,使其以最短的时间和最小的误差达到设定的速度。首先,获取系统模型;然后,采用鲁棒PID设计方法确定PID控制器的参数,通过在Simulink中仿真,验证PID控制器的参数;最后,将Simulink中的仿真模型转换成AS(Automation Studio)中的C语言代码下载到B&R的PLC中,以仿真模型中的PID控制器参数为基础,经过适当的调整,对多质量弹性扭转系统进行控制,给出了设定速度为2700度/s下的实际控制结果。仿真和实际测试均表明PID控制器能够有效的控制多质量弹性扭转系统的转速。
A robust PID controller design for multi-mass elastic torsion system is proposed to control the angular velocity of the second mass to reach the set speed with the shortest time and the smallest error. First of all, the system model is obtained. Secondly, the parameters of the PID controller are determined by the robust PID design method. The parameters of the PID controller are verified by simulation in Simulink. Finally, the simulation model in Simulink is converted into AS (Automation Studio) C language code is downloaded to B & R PLC, based on the PID controller parameters in the simulation model, the multi-mass elastic torsion system is controlled after proper adjustment, and the result is given under the setting speed of 2700 degrees / s Actual control results. Simulation and actual tests show that PID controller can effectively control the rotational speed of multi-mass elastic torsion system.