6.2 独立关节模型
见书第111页
上图中
Φ
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s
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\Phi_m(s)
Φm(s)标记错误,应该是
Θ
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\Theta_m(s)
Θm(s)。
我们要推导
Θ
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\Theta_m(s)
Θm(s)和
V
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V(s)
V(s)以及
Θ
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\Theta_m(s)
Θm(s)和
τ
l
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s
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\tau_l(s)
τl(s)的传递函数。
- 当
τ
l
=
0
\tau_l=0
τl=0时,
Θ
m
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s
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\Theta_m(s)
Θm(s)和
V
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V(s)
V(s)的传递函数为:
Θ m ( s ) V ( s ) = 1 L s + R ⋅ K m ⋅ 1 J m s + B m ⋅ 1 s 1 + 1 L s + R ⋅ K m ⋅ 1 J m s + B m ⋅ K b = K m s [ ( L s + R ) ( J m s + B m ) + K m K b ] (1) \begin{aligned} \frac{\Theta_m(s)}{V(s)}&=\frac{\frac{1}{Ls+R}\cdot K_m\cdot\frac{1}{J_ms+B_m}\cdot\frac{1}{s}}{1+\frac{1}{Ls+R}\cdot\ K_m\cdot\frac{1}{J_ms+B_m}\cdot K_b} \\ &=\frac{K_m}{s[(Ls+R)(J_ms+B_m)+K_mK_b]}\tag{1} \end{aligned} V(s)Θm(s)=1+Ls+R1⋅ Km⋅Jms+Bm1⋅KbLs+R1⋅Km⋅Jms+Bm1⋅s1=s[(Ls+R)(Jms+Bm)+KmKb]Km(1)
得证。 - 当
V
=
0
V=0
V=0时,
Θ
m
(
s
)
\Theta_m(s)
Θm(s)和
τ
l
(
s
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\tau_l(s)
τl(s)的传递函数为:
Θ m ( s ) τ l ( s ) = − 1 r ⋅ 1 J m s + B m ⋅ 1 s 1 + 1 J m s + B m ⋅ K b ⋅ 1 L s + R ⋅ K m = − ( L s + R ) / r s [ ( L s + R ) ( J m s + B m ) + K m K b ] (2) \begin{aligned} \frac{\Theta_m(s)}{\tau_l(s)}&=\frac{-\frac{1}{r}\cdot\frac{1}{J_ms+B_m}\cdot\frac{1}{s}}{1+\frac{1}{J_ms+B_m}\cdot K_b\cdot\frac{1}{Ls+R}\cdot K_m} \\ &=\frac{-(Ls+R)/r}{s[(Ls+R)(J_ms+B_m)+K_mK_b]}\tag{2} \end{aligned} τl(s)Θm(s)=1+Jms+Bm1⋅Kb⋅Ls+R1⋅Km−r1⋅Jms+Bm1⋅s1=s[(Ls+R)(Jms+Bm)+KmKb]−(Ls+R)/r(2)
得证。
由上两式的推导过程,可以很明显的看出,推导方法采用了梅森公式,不熟悉的可以点击看链接或者自行查看自控原理书籍第二章。
通常情况下,我们会假定“电气时间常数”
L
/
R
L/R
L/R比“机械时间常数”
J
m
/
B
l
J_m/B_l
Jm/Bl小得多。这是工程应用中的经验,可以简化模型。
对于式(1),(2),两式分别上下除以
R
R
R。令
L
/
R
=
0
L/R=0
L/R=0。即可将公式简化为
6.3设定点跟踪
6.3.1比例微分补偿控制器
如下图是使用比例-微分(PD)控制的系统
由梅森公式知:
Θ
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Θ
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⋅
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(3)
\begin{aligned} \frac{\Theta(s)}{\Theta^d(s)}&=\frac{K_P\cdot\frac{1}{Js^2+Bs}}{1+(\frac{K_P}{Js^2+Bs}+\frac{K_Ds}{Js^2+Bs})} \\ &=\frac{K_P}{Js^2+(K_D+B)s+K_P}\tag{3} \end{aligned}
Θd(s)Θ(s)=1+(Js2+BsKP+Js2+BsKDs)KP⋅Js2+Bs1=Js2+(KD+B)s+KPKP(3)
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(3)
\begin{aligned} \frac{\Theta(s)}{D(s)}=&=\frac{-1\cdot\frac{1}{Js^2+Bs}}{1+(\frac{K_P}{Js^2+Bs}+\frac{K_Ds}{Js^2+Bs})} \\ &=\frac{-1}{Js^2+(K_D+B)s+K_P}\tag{3} \end{aligned}
D(s)Θ(s)==1+(Js2+BsKP+Js2+BsKDs)−1⋅Js2+Bs1=Js2+(KD+B)s+KP−1(3)
令
Ω
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=
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\Omega(s)=Js^2+(K_D+B)s+K_P
Ω(s)=Js2+(KD+B)s+KP,所以有
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=
K
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Ω
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−
1
Ω
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D
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\Theta(s)=\frac{K_P}{\Omega(s)}\Theta^d(s)-\frac{1}{\Omega(s)}D(s)
Θ(s)=Ω(s)KPΘd(s)−Ω(s)1D(s)