伺服系统

The system hardware circuits are also designed. 5. The model of VCR software servo system is made. The reference signals for servo system are produced by software. Based on μPD78148, the algorithm to calculate speed and phase errors for drum and capstan servo is given.

建立了录像机软件伺服系统的模型，用软件方法产生了伺服系统所需要的基准信号，提出了基于μPD78148的磁鼓伺服及主导轴伺服的速度误差及相位误差的算法。

In the dissertation, the principle to deicide the design parameters of the system based on spectrum reproduction and the design method of the hydraulic system for random vibration, are put forward.

论文提出了谱再现电液伺服系统参数的确定原理及随机振动电液伺服系统的设计方法，分析了电液振动台使用域和极限工作曲线，建立了以电液比例阀为控制元件的电液伺服系统的数学模型。

As a result, a simple control method can not improve the dynamic performance of speed servo system. Integrated the advantages of self-adaptive control, fuzzy control and PID control, an intelligent dual module NC servo controller, called self-adaptive fuzzy PID controller is designed according to the modular design principle.

在光干涉弹流油膜测量系统中，速度伺服系统的控制参数和结构参数是影响速度伺服系统性能的主要因素，且具有时变性和不确定性，采用单一的控制策略很难达到提高速度伺服系统的动态性能的目的。

We analyze the principle of stick-slip motion deeply. From foregoing analysis a result was made that dry friction is the main factor in influencing low speed capability of electro-hydraulic servo system. Dry friction must be compensated for improving the low speed performance. Then a nonlinear model with friction is set up and control methods is discussed.

深入分析了汽轮发电机转速不稳定的原因是由于电液伺服系统在低速区性能不稳定，而影响电液伺服系统低速性能的主要因素是干摩擦，要提高电液伺服系统的低速性能必须对摩擦力进行补偿。

In the system of high precision and low speed, Because of the existence of the nonlinear friction, the static and dynamic performance of the servo system is very bad, such as stick slip, hunting, large error and so on, Because the traditional control of PID is hard to solve the nonlinear problem of the servo system, so this paper begins to introduce a new control method which is named adaptive fuzzy PID, It utilizes the rule of the fuzzy control to adjust the parameter of proportion, integral and differential on line, So this control method has some intelligence to improve the static and dynamic performance of the servo system.

在高精度、超低速伺服系统中，由于非线性摩擦环节的存在，使系统的动态及静态性能受到很大程度的影响，主要表现为低速时出现爬行现象，稳态时有较大的静差或出现极限环振荡；由于传统的PID 控制很难解决伺服系统中的非线性问题，因而不能适用于高精度、超低速伺服系统；本文通过引入模糊自适应整定PID控制，利用模糊规则在线调整比例、积分、微分环节，使系统具有一定的智能，从而非常明显的改善伺服系统的静态及动态性能。

Servo controller is key part of antenna control system.In some servo controller,classic PID control algorithm is adopted. In order to improve precision of control system,the integral parameter has been turned too big to use because it will cause integral saturation which depress system performance.On the other hand,ISA bus is used to communicate between servo controller and main computer.ISA is low speed interface protocol,it cannot provide more data for complicated real time position control in servo controller.

伺服控制器是天线伺服控制系统的核心环节，经典的PID控制算法在整定时整定出的积分环节参数较大，很容易出现积分饱和，造成控制精度的降低；另一方面伺服系统中伺服控制器与主控计算机通过低速的ISA总线进行通信，无法满足控制器进行复杂的位置控制运算所要求的实时大信息量的数据传输。

Then this dissertation proposes methodologies and algorithms through which a three-axis NC cutter path can be directly generated from massive data points obtained non-contact measuring devices. At the beginning, a Z-map model is employed to set up mesh points with the principle of Convolution Kernel and Blobby algorithm.

在认真分析闭环伺服系统基本框架的基础上，建立了伺服驱动系统中伺服电机、伺服驱动器等主要部件的数学模型，研究了位置控制器的硬件结构和位置伺服控制策略；通过深入剖析Windows系统的体系结构，提出Windows环境下基于虚拟设备驱动程序的伺服系统稳定控制。

Considering the inconvenience of regulation and difficulty of parameter tunning as AC servo system in practical situation, three ways of intelligent control approach to realize auto-tuning and autorecognization of AC servo system, are proposed, which is a robust controller based on two-degrees-offreedom with no tuning to controller, a auto-tuning controller based on fuzzy reasoning with no inertia recognization but tuning parameter of controller, a strategy recognizing inertia of servo system and tuning parameter or structure of controller automatically. In the same time, these control strategies are analyzed from the theory and reliability. The comparative analysis of three measures on strong and weak points is made by simulation and experiment results.

针对交流伺服系统在实际应用中存在的系统调试不便、参数调整困难等问题，提出了实现交流伺服系统自调整和自识别等智能化控制策略的三条途径：一是具有控制器无调整特点的二自由度鲁棒性控制器；二是惯量无识别但需自动调整控制器参数的模糊推理自调整控制器，三是自动识别伺服系统转动惯量并自动调整控制器参数和结构的方案，从理论分析和可实现性两方面对这些控制方案进行了论述，并通过仿真和实验研究，对比分析了各种方案的优缺点，得到了一些有益的结果。

By analysis and comparing with other kind of control system, according to the demands of the servo system for the Chamfering machines, the servo cylinder of the system was designed, the parameters of the opponents that was used for control and feedback in the system was calculated. Finally, the mathematics model of the position-feedback system was established, according to the model, the simulation frame was provided.

根据倒棱机对伺服控制系统的要求，通过分析及与其它控制系统的比较，设计了电液伺服系统的伺服油缸，确定了电液伺服系统控制及反馈元件性能参数，最后建立了位置控制闭环反馈系统的各个环节数学模型，并在此基础上绘出了伺服系统传递函数框图。

From the experiment and analysis, it can be seen that friction limits realization of high accuracy electro-hydraulic position servo system, movement of any gimbal brings disturbance moment to servo system of other gimbals and the disturbance moment causes error, and, resolution ratio error and setting error of feedback measurement element are directly added to servo system output.

通过实验和仿真可以看出，摩擦阻碍了转台电液位置伺服系统商精度控制的实现，任何一个框架的运动都会对其余框架的伺服驱动系统产生干扰力矩并引起伺服系统误差，反馈测量元件的分辨率误差和安装误差直接反映在伺服系统输出上，对伺服系统的精度有直接影响。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。