仿真转台克服低速滞滑的判据研究

常规PID控制器由于摩擦存在 ,使得转台低速产生滞滑爬行现象 ,严重影响了仿真转台的低速性能。采用相平面法和代数分析法、李雅普诺夫稳定性定理 ,得出了克服低速滞滑爬行的判据 ,通过该判据得到系统参数与低速滞滑爬行的关系 ,由此可确定在满足常规稳定PID参数选择范围的基础上 ,为消除低速滞滑爬行现象 ,PID参数还应满足的条件。根据该判据确定PID的参数系统既满足稳定 ,又无低速滞滑爬行现象 ,而且简单实用 ,工程上证明了它的正确性。

Study on Criterion about Overcoming Low-Speed Stick-Slip of Simulator

Simulator exists the phenomenon of low-speed stick-slip. The character of low-speed of simulator is affected badly. According to the phase plane method and algebra analyzing method, Lyapunov theory, the criterion about overcoming low-speed stick-slip is given in this paper. Making use of this criterion, we can conclude the relation between the system parameter and low-speed stick-slip, and can determine the condition which the parameters of PID controller should satisfy, for the purpose of overcoming low-speed stick-slip and guaranteeing the stability. The system with the parameters of PID according to this condition is stable and hasn't the phenomenon of low-speed stick-slip. This method is simple and easy to carry out. The experiments show that the criterion is correct.