摘要
测试摆动式液压马达起动摩擦特性需要对其转子轴施加平稳、超低速驱动。本文设计了一种Ｉ—ＰＤ调节器，实现了马达的低速平稳驱动。与ＰＩＤ调节器的控制性能相比，Ｉ—ＰＤ调节对扰动的响应更快，具有较好的鲁捧性，满足被测马达摩擦特性测试的驱动性能要求。
The shaft of hydraulic semi-rotary motor needs to be driven smoothly at a superlow speed for testing its starting friction characteristic. In this paper,an I-PD controller has been given to implement the superlow- smooth driving for motor. Compared with PID controller, 1-PD controller has a faster response and a better performance of robustness to disturbance. This plan can satisfy the driving demand of tested motor's friction characteristics well.
