【摘要】 本文研究用双模控制实现数字位置随动系统的快速控制。在控制开始阶段偏差大时,采用bang-bang控制,实现快速粗定位;当控制临近结束偏差较小时,采用无波纹最小拍控制,实现限时精定位,从而达到快速、精确定位的目的。本文的控制对象是具有时滞环节的双积分系统。文中给出了:(1)最小拍线性控制区的划定方法;(2)由bang-bang控制切换为无波纹最小拍控制的条件、切换公式;(3)实现最小拍控制的脉冲传递函数D(Z);(4)具有时滞的双积分系统bang-bang控制的开关线方程。所有的理论分析,都通过实例用数字机进行仿真验算。文中给出了数字仿真程序框图和仿真曲线,结果与理论分析相符。更多还原

【Abstract】 This article deals with the realization of a rapid position control of the digital servo system through double mode control. A bang-bang control is used at the early stage of control where a considerable deviation is observed, and a rough positioning effect is achieved. The precise control near the end of control where minor deviations are observed is realized by ripple—free minimum beat control to bring about a rapid, fine timing effect. The objective system for control in this investigation is a double integrating one with a time delay circuit. The findings in this research consist of: (1) A process for assigning the interval for minimum beat control; (2) Preper conditions and relevant formulae for switching from bang-bang control onto ripple-free minimum beat control; (3) The pulse transfer function D(Z); (4) The linear switching equation for bang-bang control of the double integrating system with a time delay circuit. Mathematical simulation operations on numeric examples are performed on digital computers to verify all the theoretical analysis mentioned. A block diagram for our digital simulation programme and the simulation curve are supplied to show the conformity with the theoretical analysis.更多还原