基于非线性P ID的数控直线工作台位置控制

摘要

PID algorithm is adopted in the double closed loop position control of the NC linear working table , but traditional linear PID can not meet the requirement of high quality control .Through analyzing the structure and performance of the existing controller , a design method of binary nonlinear PID was presented , with the error and error change as the as independent variables , which was ap-plied to speed loop control .By simulink simulation , NC working table ' s step response of position control and speed tracking perform-ance of inner loop were analyzed .Experimental results indicate that , the proposed binary nonlinear PID controller has the advantages of dynamic tacking performance and capacity of resisting disturbance , making NC working table have quick and stable response , which proves the effectiveness of the proposed method .%数控直线工作台双闭环位置控制多采用PID算法,但是传统PID已不能满足高品质的控制要求.通过对现有控制器结构及性能进行分析,提出一种以偏差和偏差变化率为自变量的二元非线性PID的设计方法,用于速度环控制.通过Simulink仿真,对数控工作台外环的位置阶跃响应以及内环的转速跟踪性能进行对比分析.实验结果表明:提出的二元非线性PID控制器动态跟踪性能好,抗干扰能力强,从而使数控工作台的位置响应快速、 稳定,证明了该方法的有效性.