【摘要】 为快速、精确地复现自由摇滚实验得到的机翼摇滚运动,在控制伺服电机的传统PID参数基础上增加了基准速度修正系数Kv,并将其视作PID参数的一部分,在此基础之上给出了一种PID参数的快速估计方法。利用该方法可以快速得到不同试验状态下控制伺服电机复现机翼摇滚运动的PID参数,提高了调试反馈控制量的效率。同时,发现在进行PID参数调节之前对速度时序曲线进行光滑化预处理,能为进一步进行PID调节打下坚实基础,提高电机驱动模型复现机翼摇滚运动的精度。最后,通过风洞试验对给出的方法进行了实验验证。更多还原

【Abstract】 In order to fast and precisely reproduce the motion of wing rock from the free-to-roll experiments,a coefficient of Kv was added to the traditional parameters of PID for controlling a servo motor.This coefficient modified the base-velocity and was considered as the part of the parameters of PID.As a result,a fast method for predicting the PID parameters was introduced for the different motions of wing rock.This method effectively improved the efficiency of adjusting the feedback control parametres.Moreover it was also found that the smoothing processing of the velocity history was necessary before reproducing the motion of wing rock,which could improve the precision of motion reproduction.The method was verified in experiments in the D4 wind tunnel.更多还原