速度PI控制及低通滤波器的系统设计

System design on speed PI control and lowpass filter

针对二惯性系统,传统的设计通过代表性的极配置来进行系统设计,为了提高系统设计的自由度,应用参数平面法解决参数设计及调节问题。基于参数平面法进行PI控制系统设计,分析系统的阻尼特征。针对小惯性比系统欠阻尼的特性,在系统中导入低通滤波器,研究使用滤波器对机械谐振的抑制效果。通过设计分析与仿真表明,系统的阻尼特性与惯性比密切相关,且滤波器可使系统阻尼特性提高,表明扩充参数平面法对二惯性系统参数调节的可行性和实用性。最后通过实验验证理论分析与设计的有效性。

For two inertia system,the traditional design uses representative pole configurations,in order to improve the design degree of freedom,the parameter plane method is introduced to overcome difficulty in parameter adjustment,and design on PI control system is presented.Aiming at the characteristics of underdamping in small inertia ratio systems,a low pass filter is introduced to suppress mechanical resonance.By analysis and simulation,it is found that the damping characteristics of the system is closely related to the inertia ratio,and the filter can improve the damping characteristics of the system effectively.The feasibility and usefulness on extended parameter plane method for adjusting the three parameter is shown.Finally,the effectiveness of theoretical analysis and design are verified by experiments.