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dxv
+B
d
t
d
t2

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;
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4

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), 6 7 10 11
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5)
d
t
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c
o
s

p3 -p1 )

(
6)

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p3
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A2
;
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3

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d2y
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t
d
t

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7)

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A4 ;
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(
a)

(
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9~12. 13. 14.

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1.
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1

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D=Ton/(
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(
1)
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;
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y

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Q2 =A5

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y
d

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t
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t

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y
d

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t
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t

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,
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1.
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23 23 2012 12

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,

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dmax -dmin)
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D=
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1
de = 1
dmin =ton/Tpwm

r x

e() , PID
u, PWM
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,

/Tpwm
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dmin ;
dmax
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ton
;
toff

PID

de

2.
1PID

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ed
t+kd

u = kpe+ki ed
t+kd

d
e
d
t

(
10)

(
9)

,
kp
ki
kd ;
e

2.
2 5 PWM
5 [8], 5
e, PWM
D,
D =Ton/Tpwm ,
Tpwm
,
Ton

d
e
d
t

(
11)

(
9)(
10), 4

[910]

3.
1
, 120mm,
60mm,
0
6m, PWM
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( ),

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0,,
; , D
,

2.
3 D
, PWM

HSV-3000 3
5ms,
2
5msPWM 20ms
0
5m, :
0~2s

150kN,
2~10s 200kN,
10~12s 150kN,

12~25s 100kN 500


L/mi
n, 20L/mi
n,
25MPa, 25s

3.
2
6 3
:
, 1
0
1m,

,,

,,

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4m ,

,
, D

0
1m 0
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PID ,

2 0
5m,
2833

23 23 2012 12

,
PWM
,,
, PWM

(
100kN),
[
11

12]

, ,

11s,11s

0
5m 5

, PID
5

3 2 ,

,, PID ,

( PID )
,, 4s,

5
,

,,

:
[
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[
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1. 2. 3.
PID

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,,
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,,
215L/mi
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[
J]. ,
2010(
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125.

[
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559.

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702.

[
5] , .

[
J]. ,

2006,
17(
7):
745

748.

[
6] , , , .

[
J]. ,
2007,
35(
6):

107

109.

,,
PWM
,
,
,

,
, 370L/mi
n,
3s,
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[
7] , . AMES
im

[
J]. ,
2010(
4):

82

84.

[
8] ,, .

[
J]. ,
2006(
1):
29

31.

[
9] . [
D].
:,
2004.

[
10] , . [
J].
,
2009(
1):
142

143.

[
11] .
[
D].:,
2003.


,,
230009

:,
,
, FCM ,
,

:;;;;

:
TP273DOI:
10.
3969/
i
s
sn.
1004-132X.
2012.
23.
013
j.
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:
20120620

[
12] , , . S
IMULINK

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2003(
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1968

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2835

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