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一、系统工作原理该微机控制脉宽(PWM)的伺服系统是一个数模混合的位置控制系统,按输入角θ_(sr)与输出角θ_(sc)之偏差进行自动调节。系统框图见图1,其中PID校正和PWM均由微机实现。两个自整角机按变压器工作状态连接,当系统处于静止状态时,即θ_(sr)等于θ_(sc),自整角机对的输出偏差电压己U_1为零;若θ_(sr)变化到θ_(sr)~V,这时θ_(sc)不等于θ′_(sr),U_1为某电压值,经相敏整流放大和滤波,得到比例子偏差角(θ′_(sr)-θ_(sc))的直流信号,其正、负极性取决于输
First, the system works The microcomputer control pulse width (PWM) servo system is a digital-analog hybrid position control system, according to the input angle θ_ (sr) and the output angle θ_ (sc) of the deviation of automatic adjustment. System block diagram shown in Figure 1, which PID correction and PWM are achieved by the computer. When the system is at rest, that is, θ_ (sr) is equal to θ_ (sc), the output deviation voltage of the autotrake pair is U_1 is zero; if the change of θ_ (sr) (Sr) - V, then θ_ (sc) is not equal to θ ’_ (sr), U_1 is a voltage value, amplified by phase-sensitive rectification and filtered, θ_ (sc)) of the DC signal, its positive and negative polarity depends on the input