The proportional correction link is added to the forward channel of the control system. The proportional coefficient is used to observe the influence on the performance of the control system, and the transfer function of the control system of the proportional link is increased. Because the system itself has a large gain, according to the difference of the proportional coefficient, The Bode of the corresponding open-loop transfer function can be seen that the amplitude margin and phase margin of the system increase with the decrease of the proportional coefficient, which means that the stability of the system also increases.
As the proportional coefficient decreases, the rise time is prolonged, the overshoot of the system is significantly reduced, and the number of oscillations is reduced. When the proportional coefficient is reduced to a certain extent, the system no longer oscillates, but monotonously rises. This step response diagram also shows that the hydraulic spring in the variable mechanism is a dynamic spring. When the system moves slowly, the function of the hydraulic spring is offset by the problem of liquid leakage. At this time, the hydraulic spring is basically not available to the system. influences.
Reduce the open loop gain of the system, improve the stability of the system, and reduce the overshoot of the system, but the system's rapidity has been reduced to some extent. In order to improve the speed of the system, PD control can be used. Through the trial method to adjust the time constant of the differential link, and finally get the step response.
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