[畢業(yè)設(shè)計(jì)精品]雙閉環(huán)調(diào)速系統(tǒng)調(diào)節(jié)器設(shè)計(jì)及matlab仿真驗(yàn)證

A1A2A0A3A4A5A6A8A9A7A10A11A12A13A141雙閉環(huán)調(diào)速系統(tǒng)調(diào)節(jié)器設(shè)計(jì)及MATLAB仿真驗(yàn)證1設(shè)計(jì)分析直流雙閉環(huán)調(diào)速系統(tǒng)中設(shè)置了兩個(gè)調(diào)節(jié)器,即轉(zhuǎn)速調(diào)節(jié)器ASR和電流調(diào)節(jié)器ACR,分別調(diào)節(jié)轉(zhuǎn)速和電流,即分別引入轉(zhuǎn)速負(fù)反饋和電流負(fù)反饋。原理圖如圖1所示。A15A16A17A18A19A20A21A22A23A24A25A26A21A27A18A28A29A30A31A15轉(zhuǎn)速環(huán)和電流環(huán)之間實(shí)行串級(jí)連接，其中，轉(zhuǎn)速調(diào)節(jié)器是調(diào)速系統(tǒng)的主導(dǎo)調(diào)節(jié)器，稱(chēng)為外環(huán)。它使轉(zhuǎn)速N很快地跟隨給定電壓UN變化，穩(wěn)態(tài)時(shí)可減小轉(zhuǎn)速誤差，對(duì)負(fù)載變化起抗擾動(dòng)作用，它的輸出當(dāng)做電流調(diào)節(jié)器的輸入，其輸出限幅值決定電動(dòng)機(jī)允許的最大電流。電流調(diào)節(jié)器作為內(nèi)環(huán)的調(diào)節(jié)器，在轉(zhuǎn)速外環(huán)的調(diào)節(jié)過(guò)程中，它的作用是是電流緊緊跟隨其給定電壓UI變化，對(duì)電網(wǎng)電壓的波動(dòng)起及時(shí)抗擾的作用，在轉(zhuǎn)速動(dòng)態(tài)過(guò)程中，保證獲得點(diǎn)動(dòng)機(jī)允許的最大電流，從而加快動(dòng)態(tài)過(guò)程。這就形成了轉(zhuǎn)速G451電流反饋G6523G2058直流調(diào)速系統(tǒng)。為了獲得G14403G3921的G19757G451動(dòng)態(tài)G5627G14033，轉(zhuǎn)速和電流兩個(gè)調(diào)節(jié)器G980G14336G18129G18331用G51G44調(diào)節(jié)器。對(duì)調(diào)速系統(tǒng)而G16340，G15999G15999G6523G2058的對(duì)G16949是轉(zhuǎn)速。雙閉環(huán)直流調(diào)速系統(tǒng)G1867G7389G8616G17751G9397G5859的動(dòng)態(tài)G5627G14033。G14033G2554實(shí)G10628所G7411G7407的G5670加速過(guò)程，最G13468G1209時(shí)間最G1260的形G5347G17810G2052所G16213G8726的G5627G14033G6363G7643，是設(shè)置雙閉環(huán)G6523G2058的G980個(gè)G18337G16213的G17873G8726G6363G7643。A1A2A0A3A4A5A6A8A9A7A10A11A12A13A1422系統(tǒng)設(shè)計(jì)及參數(shù)計(jì)算21系統(tǒng)總體設(shè)計(jì)G7242G19404G12661電動(dòng)機(jī)調(diào)速系統(tǒng)G708VM系統(tǒng)G709G17902過(guò)調(diào)節(jié)G16314G2469G16025置G42G55的G6523G2058電壓G7481G12239動(dòng)G14045G1926的G11468G1313，即可G6925變G5191G3355G6984流電壓，從而實(shí)G10628G5191G9381調(diào)速。雙閉環(huán)直流調(diào)速系統(tǒng)的動(dòng)態(tài)G13479G7512圖，如圖G21所示。A15A32A33A34A35A27A18A28A29A36A37A38A39A40A15其中，G252分別為轉(zhuǎn)速和電流反饋系G6980，G7693G6466G5062G11705G7477G1226G1207入G1209G991G1856G5347。G3404A41A42A43A44A45G708G21G161G709G3404A46A47A48A49A50A51A52G708G21G16G21G709IA53A54G3404IA55G708G21G16G22G709G8726得G340400267，G34040008822電流調(diào)節(jié)器設(shè)計(jì)及參數(shù)計(jì)算電流環(huán)的動(dòng)態(tài)G13479G7512圖如圖G22所示，其中，反電動(dòng)G2195G994電流反饋的作用G11468G1126G1144G2461，這G4570給設(shè)G16757G5049作G5114G7481G21647G9914。實(shí)G19481G990，反電動(dòng)G2195G994轉(zhuǎn)速成G8503G8616，它G1207G15932轉(zhuǎn)速對(duì)電流環(huán)的G5445G2721。在G980G14336G5785G1929G991，系統(tǒng)的電G11925時(shí)間G5132G6980TA56G17840小G1122機(jī)電時(shí)間G5132G6980TA57，G3252G8504，轉(zhuǎn)速的變化G5460G5460G8616電流變化G5942的G3822。對(duì)電流環(huán)G7481G16840，反電動(dòng)G2195是G980個(gè)變化G17751G5942的擾動(dòng)，在電流的G11648變過(guò)程中，可G1209G16760為反電動(dòng)G2195G3534G7424G993變，即G440G40G300G19。這G7691，在G6365動(dòng)態(tài)G5627G14033設(shè)G16757電流環(huán)時(shí)，可G1209G7254G993G13783G15397反電動(dòng)G2195變化的動(dòng)態(tài)G5445G2721。調(diào)節(jié)器如圖G23所示。A58A59A60A61A62A63A64A65A66A67A68A69A70A71A723A73A74A75A76A77A78A79A80A81A82A73A73A83A84A85A86A87A88A89A90A91A87A88A78A92A93A94A95A96A97A75A76A98A99A100電流調(diào)節(jié)器G2454G6980G17885G6333G265G714確定時(shí)間G5132G69801G709三G11468橋G5347電路的G5191G3355失G6523時(shí)間為T(mén)A101G340400017S。G21G709電流濾波時(shí)間G5132G6980TA102A103，三G11468半波G6984流電路每個(gè)波頭的時(shí)間是33MS，為了G3534G7424濾G5191波頭，應(yīng)G7389G466612G4667TA104A105G3404333MS，G3252G8504取TA106A1072MS0002S。G22G709電流環(huán)小時(shí)間G5132G6980之和TA108A109G3404TA110G3397TA111A112G340400037S。G17885G6333電流調(diào)節(jié)器G13479G7512G7693G6466設(shè)G16757G16213G8726A113G34095，并保證穩(wěn)態(tài)電流無(wú)差，可G6365典型G44型系統(tǒng)設(shè)G16757電路調(diào)節(jié)器。電流環(huán)G6523G2058對(duì)G16949是雙慣G5627型的，G3252G8504可用G51G44型電流調(diào)節(jié)器其傳遞函G6980為WA114A115A116G4666SG4667G3404A117A118A119A120A121A122A123A124A125A126A127A128G708G21G16G23G709給出電G11925時(shí)間G5132G6980TA1290031S檢查對(duì)電源電壓的抗擾G5627G14033A130A131A132A133A134G3406A135A136A137A138A139A140A141A142A142A143A144G34068378，G2454照典型G44型系統(tǒng)動(dòng)態(tài)抗擾G5627G14033G6363G7643G994G2454G6980的關(guān)系G15932格，可G11705各項(xiàng)G6363G7643G18129是可G1209接受的。電流環(huán)開(kāi)環(huán)傳遞函G6980為A145A146A147A148A149A150A151A152A153A154A155A156A157A158A1594WA160A161A162G4666SG4667G3404A163A164A165A166A167A168A169A170A171A172A173A174A175A176A177A178A179A180A181A182A183A184A185A186A187A188A189A190A191A192A193A194G708G21G165G709G3252為T(mén)A195G1576TA196A197，所G1209G17885G6333A198G3404TA199，用調(diào)節(jié)器零點(diǎn)消去G6523G2058對(duì)G16949中大的時(shí)間G5132G6980點(diǎn)，G1209便矯G8503成典型G44型系統(tǒng)，G3252G8504WA200A201A202G4666SG4667G3404A203A204A205A206A207A208A209A210A211A212A213A214A215A216A217A218A219A220G3404A221A222A223A224A225A226A227A228A229A230A231G708G21G166G709G16757算電流調(diào)節(jié)器G2454G6980電流調(diào)節(jié)器超前時(shí)間G5132G6980A232G3404TA233G34040031S。電流環(huán)開(kāi)環(huán)增益G16213G8726A234G34095時(shí)，并G13479合G7424題實(shí)G19481，取KA235TA236A237G3404025，G3252G8504KA238G3404A239A240A241A242A243A244A245G3404A246A247A248A249A250A251A252A252A253A254G34066757G708G21G167G709ACR的G8616例系G6980為KA255G3404A16A10A17A4A15A0A9A26G3404A34A1A22A33A2A35A21A3A5A6A7A8A11A12A19A13A24A14A18A20A23A25A25A27A27G34060444G708G21G168G709檢驗(yàn)近似G7477G1226電流環(huán)截至頻率A38A28G3404KA29G34046757SA39A301G709校驗(yàn)G7242G19404G12661G6984流G16025置傳遞函G6980的近似G7477G1226A31A32A36A37G3404A40A41A42A43A44A45A45A46A47SA48A49G34061911SA50A51G3408A52A53G708G21G169G709G9397足近似G7477G1226G21G709校驗(yàn)忽略反電動(dòng)G2195變化對(duì)電流環(huán)動(dòng)態(tài)G5445G2721的G7477G12263G3495A54A55A56A57A58G34043G3400G3495A59A60A61A62A62A63A64A65A66A67A68A69G340650913G3407A70A71G708G21G161G19G709G9397足近似G7477G1226G22G709校驗(yàn)電流環(huán)小時(shí)間G5132G6980近似處理G7477G1226A72A73G3495A74A75A76A77A78A79G3404A80A81G3400G3495A82A83A84A85A85A86A87A88A89A90A91A92A92A93G3406180775G3408A94A95G708G21G1611G709G9397足近似G7477G1226G16757算調(diào)節(jié)器電阻和電容由圖5，G6365所用運(yùn)算放大器取040RK，各電阻和電容值G16757算如G991RA96G3404KA97RA98G34040444G340040G34041776K，取20KG708G21G161G21G709CA99G3404A100A101A102A103G3404A104A105A106A107A108A109A110A111A112A113A114A115G3404175F，取175FG708G21G161G22G709CA116A117G3404A118A119A120A121A122A123G3404A124A125A126A127A128A128A129A130A131A132A133G340402F，取02FG708G21G161G23G709G6365照G990述G2454G6980，G4570在MATLAB仿真模型中設(shè)置，電流環(huán)可G1209G17810G2052的動(dòng)態(tài)跟隨G5627G14033G6363G7643，G9397足設(shè)G16757G16213G8726。A134A135A136A137A138A139A140A141A142A143A144A145A146A147A148523轉(zhuǎn)速調(diào)節(jié)器設(shè)計(jì)及參數(shù)計(jì)算設(shè)G16757轉(zhuǎn)速調(diào)節(jié)器時(shí)，把電流環(huán)等效為單G1313負(fù)反饋系統(tǒng)和小慣G5627系統(tǒng)。把電流環(huán)的等效環(huán)節(jié)接入轉(zhuǎn)速環(huán)后，G6984個(gè)轉(zhuǎn)速G6523G2058系統(tǒng)的動(dòng)態(tài)G13479G7512框圖如圖5所示。和電流環(huán)中G980G7691，把轉(zhuǎn)速給定濾波和反饋濾波環(huán)節(jié)G12239G2052環(huán)內(nèi)，同時(shí)G4570給定信號(hào)G6925成NSU，再把時(shí)間G5132G6980為IK1和ONT的兩個(gè)小慣G5627環(huán)節(jié)合并起G7481，近似成G980個(gè)時(shí)間G5132G6980為NA149T的慣G5627環(huán)節(jié)。由G1122需G16213實(shí)G10628轉(zhuǎn)速無(wú)G19757差，而且在后面G5062經(jīng)G7389G980個(gè)積分環(huán)節(jié)，G3252G8504轉(zhuǎn)速環(huán)開(kāi)環(huán)傳遞函G6980應(yīng)共G7389兩個(gè)積分環(huán)節(jié)，所G1209應(yīng)該設(shè)G16757成典型型系統(tǒng)，這G7691的系統(tǒng)同時(shí)也G14033G9397足動(dòng)態(tài)抗擾G5627G14033G3921的G16213G8726。由G8504可見(jiàn)，ASR也應(yīng)該G18331用G51G44調(diào)節(jié)器，其傳遞函G6980為WA150A151A152G4666SG4667G3404A153A154A155A156A157A158A159A160A161A162A163A164G708G21G1615G709A165A166A167A168A169A170A171A172A173A174A175A170為了實(shí)G10628轉(zhuǎn)速無(wú)G19757差，在負(fù)載擾動(dòng)作用點(diǎn)前面必須G7389G980個(gè)積分環(huán)節(jié)，它應(yīng)該包含在轉(zhuǎn)速調(diào)節(jié)器ASR中，由G1122在擾動(dòng)作用點(diǎn)后面G5062經(jīng)G7389了G980個(gè)積分環(huán)節(jié)，G3252G8504轉(zhuǎn)速開(kāi)環(huán)傳遞函G6980共G7389兩個(gè)積分環(huán)節(jié)，應(yīng)該設(shè)G16757成典型型系統(tǒng)。A165A176A177A178A179A180A181A182A183A184A183A185A186轉(zhuǎn)速調(diào)節(jié)器G2454G6980G16757算G451G17885G6333G265確定時(shí)間G5132G69801G709電流環(huán)等效時(shí)間G5132G6980A187A188A189，G5062取KA190TA191A192G3404025，1KA193G34044TA194A195G340400148SA196A197A198A199A200A201A202A203A204A205A206A207A208A209A2106G21G709轉(zhuǎn)速濾波時(shí)間G5132G6980TA211A212。取TA213A214G3404001S3G709轉(zhuǎn)速環(huán)小時(shí)間G5132G6980TA215A216。G6365小時(shí)間G5132G6980近似處理，取TA217A218G34041KA219G3397TA220A221G340400248SG17885G6333轉(zhuǎn)速調(diào)節(jié)器G13479G7512G6365照設(shè)G16757G16213G8726，G17885用G51G44調(diào)節(jié)器，其傳遞函G6980為WA222A223A224G4666SG4667G3404A225A226A227A228A229A230A231A232A233A234A235A236G708G21G1616G709調(diào)速系統(tǒng)開(kāi)環(huán)傳遞函G6980為WA237G4666SG4667G3404A238A239A240A241A242A243A244A245A246A247A248A249A250A251A252A253A254A255A20A5A9A28A0A8A1A2A18A19A29G3404A16A3A43A15A4A17A6A7A10A11A12A26A13A14A21A22A23A24A25A27A30A31A32A33A34A35A36A37A38G708G21G1617G709另轉(zhuǎn)速開(kāi)環(huán)增益KA39為KA40G3404A41A42A44A45A46A47A48A49A50A51A52A53G708G21G1618G709則WA54G4666SG4667G3404A55A56A57A58A59A60A61A62A63A64A65A66A67A68A69A70A71A72A73G708G21G1619G709為校G8503后的典型的型系統(tǒng)G16757算轉(zhuǎn)速調(diào)節(jié)器G2454G6980G6365跟隨和抗擾G5627G14033G18129G17751G3921的原則，取5H，則ASR的超前時(shí)間G5132G6980為A74G3404HTA75A76G34040124SG708G21G16G21G19G709轉(zhuǎn)速開(kāi)環(huán)增益KA77G3404A78A79A80A81A82A83A84A85A86A87G34061951SA88A89G708G21G16G211G709ASR的G8616例系G6980為KA90G3404A91A92A93A94A95A96A97A98A99A100A101A102A103A104A105A106A107G34041161G708G21G16G21G21G709檢驗(yàn)近似G7477G1226轉(zhuǎn)速環(huán)截止頻率A108A109G3404A110A111A112A113G3404KA114A115G34042419SA116A117G708G21G16G21G22G7091G709電流環(huán)傳遞函G6980簡(jiǎn)化G7477G1226為A118A119G3495A120A121A122A123A124G340645045SA125A126G3408A127A128G708G21G16G21G23G709G9397足簡(jiǎn)化G7477G1226。G21G709轉(zhuǎn)速環(huán)小時(shí)間G5132G6980近似處理G7477G1226為A129A130G3495A131A132A133A134A135G3406274SA136A137G3408A138A139G708G21G16G215G709G9397足簡(jiǎn)化G7477G1226。G16757算調(diào)節(jié)器電阻和電容取040RK，則A140A141A142A143A144A145A146A147A148A149A150A151A152A153A1547RA155G3404KA156RA157G34041161G340040G34044644，取460KG708G21G16G216G709CA158G3404A159A160A161A162G3404A163A164A165A166A167A168A169A168A170A171A172A173G34040267F，取02FG708G21G16G217G709CA174A175G3404A176A177A178A179A180A181G3404A182A183A184A185A186A187A188A189A190A191G34041F，取1FG708G21G16G218G709校核轉(zhuǎn)速超調(diào)量當(dāng)H5時(shí)，A192G3404376，G993G14033G9397足設(shè)G16757G16213G8726。應(yīng)G6365ASR退飽和的G5785G1929G18337新G16757算超調(diào)量。G6365ASR退飽和G18337新G16757算超調(diào)量過(guò)載倍G698015A193G3404G4672A194A195A196A197A198A199A200G4673A201A202A203A204A205G34042G4672A206A207A208A209A210A211A212G4673G708G3398ZG709A213A214A215A216A217A218A219A220A221A222G708G21G16G219G709Z為負(fù)載系G6980，ZG3404A223A224A225A226A227A228；NA229為調(diào)速系統(tǒng)開(kāi)環(huán)機(jī)械特G5627的額定穩(wěn)態(tài)速降NA230G3404A231A232A233A234A235A236G708G21G16G22G19G709NA237G34042G4666G3398ZG4667NA238A239A240A241A242A243G708G21G16G221G709G8726得G13479果，并在MATLAB仿真G16757算，在所得波形圖中進(jìn)行G16757算，得G2052超調(diào)量，可G1209得G2052動(dòng)態(tài)超調(diào)量G14033G9397足設(shè)G16757G16213G8726。當(dāng)超調(diào)G993符合時(shí)，可G1209G7693G6466G1867體的G5785G1929，G18331用經(jīng)驗(yàn)試湊G8873，G17885G6333在符合超調(diào)內(nèi)的G6980G6466，G5049程G8873G7481設(shè)G16757的原則G980G14336G18129是G1820內(nèi)環(huán)后外環(huán)，其中G7389對(duì)G980G1135變G6454的近似處理。3仿真分析G7693G6466G990面G16757算的G2454G6980G6980G6466，可G1209用MATLAB的SIMULINKG5326模仿真，仿真模型如圖7所示A244A245A246A247A248A249A250A251A252A253A254A255A25A1A2A0A3A4A5A6A8A9A7A10A11A12A13A148G12366載G2563動(dòng)G2052額定轉(zhuǎn)速，可G1209用G980個(gè)G19466G17303進(jìn)行仿真，STEPTIME設(shè)置成15，INITIALVALUE設(shè)置為0，F(xiàn)INALVALUE設(shè)置成760，G11468當(dāng)G112215G12198之前是G12366載，15G12198之后是額定G9397載。當(dāng)穩(wěn)定運(yùn)行時(shí)電流環(huán)G12373G9994G7041G13459，在模型中等效為電流反饋G12373G9994減為零，如圖所示，可G1209在電流反饋G17902G17959G990用G19466G17303和電流反饋信號(hào)G11468G1068，3G12198之后，G19466G17303由1變?yōu)?，電流反饋就變?yōu)榱?，G11468當(dāng)G1122電流環(huán)G12373G9994G7041G13459。電流G451轉(zhuǎn)速仿真G13479果如圖8所示，G12366載G2563動(dòng)，15G12198時(shí)加G990額定負(fù)載電流，3G12198時(shí)電流環(huán)G12373G9994G7041G13459，得G2052仿真波形圖。A244A32A15A16A33A34A250A253A254A17A18A244A244A37A15A16A17A18A19A20A244A1A2A0A3A4A5A6A8A9A7A10A11A12A13A149A244A40A41A34A250A17A18A19A20A244其中，電流波形圖如圖9，轉(zhuǎn)速波形圖如圖1G19。由波形圖可G1209G8726出電流超調(diào)量A21為G237G21G8，小G11225G8；轉(zhuǎn)速超調(diào)量A22為66G23G8，小G11221G19G8，G3355符合動(dòng)態(tài)G6363G7643，并且穩(wěn)態(tài)無(wú)G19757差。直流電壓UA23，ASRG451ACR輸出電壓波形圖如圖11G451圖1G21G451圖1G22所示。A24A26A26A42A27A28A29A30A31A35A36A38A39A43A44A45A46A47A48A49A50A51A52A53A54A55A5610A38A57A58A59A60A61A62A63A64A65A35A36A38A38A57A66A59A67A61A62A63A64A65A35A36A38電動(dòng)機(jī)G2563動(dòng)時(shí)G5132G7389G12366載G2563動(dòng)G994G9397載G2563動(dòng)之分，兩G12193G2563動(dòng)G5785G1929G991的電流和轉(zhuǎn)速波形略G7389G993同。G12366載G2563動(dòng)時(shí)電流及轉(zhuǎn)速的波形見(jiàn)G991圖。A39A43A44A45A46A47A48A49A50A51A52A53A54A55A5611A38A57A68A69A70A71A72A35A36A38G9397載G2563動(dòng)時(shí)電流及轉(zhuǎn)速的波形見(jiàn)G991圖。A38A57A73A74A70A71A72A35A36A38由G990述波形可G11487出，G12366載時(shí)，電流IA75從零增G19283G2052IA76，G9994后在G980G8585時(shí)間內(nèi)G13512G6357G993變，后G2460降G2052零，這是G3252為G12366載時(shí)G8821G7389加負(fù)載電流，G6937G2563動(dòng)后穩(wěn)定值為零；而G9397載時(shí)，電流IA77也是從零增G19283G2052IA78，G9994后在G980G8585時(shí)間內(nèi)G13512G6357G993變，G1306最后G1262降G2052G980穩(wěn)定值，而該穩(wěn)定值G8503G3921是G9397載時(shí)所加的額定負(fù)載電流。轉(zhuǎn)速波形則大體G11468同，G1820是G13543G5942G2331速，G9994后G5670加速G990G2331至A79A80A81A82A83A84A85A86A87A88A89A90A91A92A9312最大值，G980個(gè)超調(diào)后穩(wěn)定在額定轉(zhuǎn)速G990。從G2563動(dòng)所需時(shí)間G7481G11487，G12366載G2563動(dòng)G8616G9397載G2563動(dòng)快G980點(diǎn)。從電流G994轉(zhuǎn)速變化過(guò)程所反G7156出的特點(diǎn)可G1209把起動(dòng)過(guò)程分為電流G990G2331G451G5670流G2331速和轉(zhuǎn)速調(diào)節(jié)三個(gè)G19466G8585，由圖1G21和1G22G17836可得出轉(zhuǎn)速調(diào)節(jié)器在G8504三個(gè)G19466G8585中經(jīng)G2394了G993飽和G451飽和及退飽和三G12193G5785G1929，而電流調(diào)節(jié)器在G6984個(gè)過(guò)程中G980直處G1122G993飽和G10378態(tài)。分G7524電流環(huán)G7041G13459對(duì)系統(tǒng)的G5445G2721G1119可G1209G2454G13783圖8至圖1G22，從這G1972幅圖的波形可G1209G11487出，電流環(huán)G12373G9994G7041G13459后，電流和轉(zhuǎn)速G18129G1262G2469G10995G6403G14645，且是幅值增大后的等幅G6403G14645，系統(tǒng)的穩(wěn)定G5627降G1314。而調(diào)節(jié)器的輸出電壓也G18129受G2052了限幅器的限G2058，即調(diào)節(jié)器G18129G17810G2052了飽和G10378態(tài)。這是由G1122G7041G13459的電流環(huán)G4658G1122內(nèi)環(huán)反饋G17902G17959G990的G5190擾，雙閉環(huán)調(diào)速系統(tǒng)G15441G9994G7389反饋G6523G2058，G1306它所G14033G6245G2058的G2494是G15999反饋環(huán)所包G3272的前G2533G17902G17959G990的擾動(dòng)，對(duì)反饋G17902G17959G990的G5190擾則無(wú)G14033為G2159。G1306是由G1122仿真時(shí)轉(zhuǎn)速調(diào)節(jié)器和電流調(diào)節(jié)器的輸出G18129加G7389限幅器，G6937其輸出G993可G14033G980直增大，調(diào)節(jié)器G1262G3252為輸出G17810G2052限幅器的限幅值而進(jìn)入飽和G10378態(tài)，從而使電流和轉(zhuǎn)速等幅G6403G14645。A79A80A81A82A83A84A85A86A87A88A89A90A91A92A93134課程設(shè)計(jì)心得體會(huì)G17902過(guò)G7424G8437G16850程設(shè)G16757，G16765G6117受益G2302G8985。G20330G1820G6117G4410G1262很G3822新的G1008G16211，對(duì)G48AG55G47AG37的使用，G17751之G1209前G7389了G7368G3822G7368G1852面的G16760G16794。其G8437，G6117對(duì)之前G4410的雙閉環(huán)調(diào)速系統(tǒng)G7389了G7368G9157G2063的G16760G16794和理G16311，對(duì)G980G1135理G16782G11705G16794的實(shí)G19481運(yùn)用G7389了G7368G9157的理G16311，G15441G16840