Académique Documents
Professionnel Documents
Culture Documents
3 1 + _
x1 z zb 1 2 a 2 a z zb
x = C - 0 = 1 0
a x + C 0 (4) s1
2 x
0
1 y
Gs (s)
x3 0
y 1 3
a a s2
2 2 A/D Gs (s)
s3
i1 x1
Gs (s)
i = B x (5)
2 2 Figure4. Block diagram of the control system.
i3 x3
PID control strategy is widely used in the control system
because of its advantages, such as simple principle, easiness to
implement and so on. Here integral separate PID control
strategy is adopted to prevent the disk-shaped rotor from
floating at the beginning of floating or output significant
deviations at the end, which will cause PID computing integral
accumulation. Integral separation is set an artificial domain of
according to the actual situation, adopting PD control
strategy while the error is big and PID control strategy is
adopted when the error is small. The specified realization steps
are as following:
1) In accordance with the actual situation, set a threshold
value>0; Figure 6. Displacement curve.
2) While error ( k ) > ,use PD control;
Figure 5. Flywheel energy storage system. Figure 8. Displacement curve under disturbance.