python功能自动化液压元件测试台_使用Python进行液压缸模拟

最新推荐文章于 2023-02-13 10:08:32 发布

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最新推荐文章于 2023-02-13 10:08:32 发布

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仅P型控制器不可能具有比PD控制器更高的比例增益，并且可以像PD控制器一样工作。我选择比较PD和P控制器，因为这是最接近的比较。两个闭环系统都是三阶的，只有一个增益需要改变才能证明我的观点。

我已经做了两个图片的回应。一个PD控制，没有前馈。另一个是P只控制，没有前馈。 PD控制器的增益大于5.6，Kp = 5.654。有以下错误，因为没有前馈，但跟随误差远远低于P控制所能达到的误差。

对于仅比例控制，我将微分增益设置为0. Kd = 0。

我设定Kp = 4.5。即使只有比例增益会振荡，您仍可以看到。

PD控制Kp = 5.6并且没有振荡。

A P only controller cannot possibly have a higher proportional gain than a PD controller and work as well as a PD controller. I choose to compare a PD vs P controller because this is the closest comparison. Both closed loop systems are third order and only one gain needs to change to prove my point.

I have made two pictures of the response. One with PD control and no feed forwards. The other is with P only control and no feed forwards. The proprtional gain for the PD controller is over 5.6, Kp=5.654. There is following error because there are no feed forwards but the followign error is much lower than what can be achieved with P control.

For the proportional only control I set the derivative gain to 0. Kd = 0.

I set Kp=4.5. You can see even though the proportional only gain will oscillate.

The PD control Kp=5.6 and follows with no oscillation.

PD control.png

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