软质管线收卷机构PI D控制研究

摘要

In order to make the control system of the rolling hose mechanism have good transient and steady state performance under the condition of load torque disturbance,the PID controller was used to adjust the control system.The model of the control system was established by transfer function method and the PID controller’s parameters were optimized by the root locus method.At the same time,the model of the control system was established by Simulink modeling,and the PID controller parameters were optimized by the orthogonal test.The results show that the optimization results of the root locus method of transfer function modeling are consistent with the optimization results of the Simulink modeling orthogonal test.The transfer function model and the Simulink model can be confirmed by each other.The results of root locus analysis provide the initial value range of the level for the analysis of the orthogonal test.The analytical results of the orthogonal test method indicated the direction for further experimental analysis. The comprehensive utilization of the two optimization methods can improve the optimization for parameter of PID controller.%为使软质管线收卷机构在受到负载力矩扰动的情况下收卷机构的控制系统拥有良好的瞬态与稳态性能，采用PID控制器对控制系统进行调整。用传递函数的方法建立控制系统的模型并采用根轨迹法对PID控制器参数进行分析优化。同时用Simulink建模的方法建立控制系统的模型并采用正交试验法则对PID控制器参数进行优化；计算结果表明：传递函数建模根轨迹法分析的优化结果与Simulink建模正交试验法分析的优化结果比较吻合，传递函数模型与Simulink模型得到相互印证。根轨迹分析法的结果为正交试验法的分析提供了初始的水平数取值范围。正交试验法的分析结果为进一步试验分析指明了方向。两种优化方法的综合运用使PID控制器参数的优化效果得到提高。