![]() Changes of the natural characteristics of the system are caused by changes of load, and the fixed parameters of PID controller are difficult to continue to ensure a good control effect. During experiments, the different disturbance torques are generated according to the different dimension scales of the anti-rolling tanks. ![]() But the uncertainties, such as the couplings and the nonlinearty of the swing bench, make it difficult to establish the precise mathematical model of system. ![]() Generally, the PID control method can achieve an ideal control effect. Its function is to simulate the ship roll motion and to verify the performance of the anti-rolling tank. ![]() The anti-rolling tank swing bench is a typical hydraulic position servo system. ![]()
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