双动子永磁直线电机往复运动控制系统的研究
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摘要
在特种印刷机中，传统的做法是利用汽缸活塞带动印刷机构做直线运动进行图案的印刷，这种运动方式需要专门的气源，在许多场合是很不方便的。而且采用汽缸活塞驱动具有很大的噪声，对周边的环境造成较坏的影响。使生产车间的选择受到很大的限制。
永磁直线电动机的直接驱动方式可以赋予特种印刷机优良的性能，能实现适宜的直线运动并且可极大的降低噪声，由于取源方便，可以使生产在家庭等较小的空间进行。这样可以较大的扩大其应用范围。由于其运行距离短，启停频繁，因此确保电动机具有合适的运行速度及安全停止是保证特种印刷机能长期、可靠、高质量工作的重要因素。
本文首先根据特种印刷机的工艺要求，设计了适合要求的永磁直线电动机。然后依据对电动机的数学模型的分析设计了控制系统的结构和控制策略。以51单片机为控制部件，着重对其控制策略进行了分析。探讨了直线电动机的合理的运行规律，深入分析了P、I、D各参数对系统过渡过程的影响，确定了在不同的状况P、I、D参数的取值。并以永磁同步电机为例利用MATIAB软件包进行了控制策略的仿真。对于本课题而言，速度的给定值是按一定规律变化的，为了确保印刷质量，并保证电机运行到满行程时速度尽可能的小，防止发生大的碰撞，电机须按一定的精度跟随给定值的变化而变化，即要求控制系统具有一定的快速性和鲁棒性。在速度调节器采用PI控制的情况下，根据偏差和偏差的变化率对比例和积分时间进行适宜的修正。既控制器的算法模型不断的按照响应的状况加以修正以求得到最佳的控制效果。
结果表明其对P、I、D参数的调整是合理的，可以使系统获得较固定P、I、D参数较好的控制性能。利用单片机软件编程实现其控制算法，不需增加任何硬件投资却可以大大改善系统的控制性能。
In the special printing machine, the conventional method is that linear motion of printing machine is obtained by cylinder plunger. This movement mode is discomrnodious in many occasions, because it demands special gas sources and it influences the environment by making loud noise .So it restricts the choice of produce sites, by making loud noise.
The direct drive mode based on the permanent-magnet (PM) liner motor endows the special printing machine fine performance. It can obtain linear movement directly, and reduce noise greatly. Because of short movement distance and frequently up-down, It is important for the special printing machine to work long and credibility that the linear motor have appropriate speed and can shut down safety.
Firstly, the dual mover PM linear motor that can eliminate the longitudinal force is chosen to meet the craftwork need of the special printing machine in this paper. Besides, the structure of motor system and control strategy are designed based on analyzing the linear motor mathematics model. It is not strict for the demand of special printing machine's speed at the point of view of printing machine. But if the motor speed can not carry the given law nor has big error, it is not anticipant that big collision will occur if the speed is too high at the end ;or the motor can not reach the end if the speed is too low. Therefore, it is necessary for the motor to track the given speed. The motion speed will be influenced by the uncertain disturbances in the linear motor, such as the change of mover mass and linear motor's end effect. But all disturbances will embodiment on the error, so good control effect will be obtained by adjusting controller's parameters according to error and error's derivative .The speed an
d current double closed loop structure is adopted in this paper, and the speed controller adopts fuzzy adjust PID control strategy. The influence to transition process by PID controller's parameters is analyzed deeply on step signal, and the choice law of PID parameters at different case .The actual variation ranges of the error and its derivative are acted as input definition ranges, and four fuzzy language variables: zero, small, mid and big are chosen in the definition ranges. The out
control variable is the sane as the above. Then the PID parameters are adjusted by the fuzzy control rules .The control system is simulated using MATLAB software.
The simulation results show that the fuzzy self-adjust PID control have better control performance than fixed parameters PID control .The parameters self-adjust can be realized through software by using the single chip, and It needn't any more hardware but the system's performance is improved greatly.
永磁直线电动机的直接驱动方式可以赋予特种印刷机优良的性能，能实现适宜的直线运动并且可极大的降低噪声，由于取源方便，可以使生产在家庭等较小的空间进行。这样可以较大的扩大其应用范围。由于其运行距离短，启停频繁，因此确保电动机具有合适的运行速度及安全停止是保证特种印刷机能长期、可靠、高质量工作的重要因素。
本文首先根据特种印刷机的工艺要求，设计了适合要求的永磁直线电动机。然后依据对电动机的数学模型的分析设计了控制系统的结构和控制策略。以51单片机为控制部件，着重对其控制策略进行了分析。探讨了直线电动机的合理的运行规律，深入分析了P、I、D各参数对系统过渡过程的影响，确定了在不同的状况P、I、D参数的取值。并以永磁同步电机为例利用MATIAB软件包进行了控制策略的仿真。对于本课题而言，速度的给定值是按一定规律变化的，为了确保印刷质量，并保证电机运行到满行程时速度尽可能的小，防止发生大的碰撞，电机须按一定的精度跟随给定值的变化而变化，即要求控制系统具有一定的快速性和鲁棒性。在速度调节器采用PI控制的情况下，根据偏差和偏差的变化率对比例和积分时间进行适宜的修正。既控制器的算法模型不断的按照响应的状况加以修正以求得到最佳的控制效果。
结果表明其对P、I、D参数的调整是合理的，可以使系统获得较固定P、I、D参数较好的控制性能。利用单片机软件编程实现其控制算法，不需增加任何硬件投资却可以大大改善系统的控制性能。
In the special printing machine, the conventional method is that linear motion of printing machine is obtained by cylinder plunger. This movement mode is discomrnodious in many occasions, because it demands special gas sources and it influences the environment by making loud noise .So it restricts the choice of produce sites, by making loud noise.
The direct drive mode based on the permanent-magnet (PM) liner motor endows the special printing machine fine performance. It can obtain linear movement directly, and reduce noise greatly. Because of short movement distance and frequently up-down, It is important for the special printing machine to work long and credibility that the linear motor have appropriate speed and can shut down safety.
Firstly, the dual mover PM linear motor that can eliminate the longitudinal force is chosen to meet the craftwork need of the special printing machine in this paper. Besides, the structure of motor system and control strategy are designed based on analyzing the linear motor mathematics model. It is not strict for the demand of special printing machine's speed at the point of view of printing machine. But if the motor speed can not carry the given law nor has big error, it is not anticipant that big collision will occur if the speed is too high at the end ;or the motor can not reach the end if the speed is too low. Therefore, it is necessary for the motor to track the given speed. The motion speed will be influenced by the uncertain disturbances in the linear motor, such as the change of mover mass and linear motor's end effect. But all disturbances will embodiment on the error, so good control effect will be obtained by adjusting controller's parameters according to error and error's derivative .The speed an
d current double closed loop structure is adopted in this paper, and the speed controller adopts fuzzy adjust PID control strategy. The influence to transition process by PID controller's parameters is analyzed deeply on step signal, and the choice law of PID parameters at different case .The actual variation ranges of the error and its derivative are acted as input definition ranges, and four fuzzy language variables: zero, small, mid and big are chosen in the definition ranges. The out
control variable is the sane as the above. Then the PID parameters are adjusted by the fuzzy control rules .The control system is simulated using MATLAB software.
The simulation results show that the fuzzy self-adjust PID control have better control performance than fixed parameters PID control .The parameters self-adjust can be realized through software by using the single chip, and It needn't any more hardware but the system's performance is improved greatly.
引文
[1] 李志民．同步电动机调速系统．机械工业出版社，2000．
[2] 郭庆鼎．高性能永磁直线同步电机鲁棒速度伺服系统的研究．电气传动，2001，4：23-26．：
[3] IEE of Japan Linear Drives for Industry Application Tokyo: IEE of Jap,1998,2:5～15.
[4] 叶云岳．直线电机原理与应用．北京：机械工业出版社，2000．
[5] Kollmorgen Motion Technologies Group. Direct Drive Linear Motors, 1997:1～50.
[6] 张琛著．直流无刷电动机原理及应用．北京：机械工业出版社，2001．
[7] 扬贵杰．无刷电动机直接驱动系统动态特性分析．电机与控制学报，2000，1：1～5．
[8] 郭庆鼎等著．直线交流伺服系统的精密控制技术．北京：机械工业出版社，2000．
[9] 沈建新．电动自行车轮毂式无刷直流电机结构分析．电工电能新技术，1998，5：5～7．
[10] 汪木兰．无刷直流力矩电机驱动高性能伺服系统的研究．电气传动，2001，3：23～25．
[11] 许实章．电机学．北京：机械工业出版社，1999．
[12] Robert B .Attack of Linear Motors. Manufacturing Engineering, 1997,5:11～14.
[13] 顾绳谷．电机及拖动基础．北京：机械工业出版社，1981．
[14] P.Pillay. Modeling of Permanent Magnet Motor Drives. IEEE, 1987:1～16.
[15] P.Pillay. Application Characteristics of Permanent Magnet Synchronous and Brushless Dc Motor for Servo Drives. IEEE, 1987,3:8～22.
[16] 王成元．矢量控制交流伺服驱动电动机．机械工业出版社，1995．
[17] David L. Trumper, Won-jong Kim, Mark E. Williams. Design and Analysis Framework for line permanent-Magnet Machines. IEEE. Trans. on Ind. Ele, March/April 1996:371～379.
[18] 陈伯时．电力拖动自动控制系统．北京：机械工业出版社，1992．
[19] Jeong-hyoun Sung and Kwanghee Nam. A New Approach to Vector Control for a Linear Induction Motor Considering End Effects. IEEE.99 Proc:2284-2289.
[20] Shigeo Morimoto. Servo Drive System and Control Characteristics and Control Characteristics of Salient Pole Permanent Synchronous Motor.IEEE, 1993, 4:45～48.
[21] 张毅刚．单片机应用设计．哈尔滨工业大学出版社，1990．
[22] 于锡存．单片机原理及接口技术．西安电子科技大学出版社，2000．
[23] 冯冬青．模糊智能控制．化学工业出版社，1998．
[24] 汤兵勇．模糊控制理论与应用技术．清华大学出版社，2002．
[25] 徐志良基于模式识别的数字伺服系统智能PID控制．电气自动化，2002，5：32-37．
[26] 李卓．基于神经网络的模糊自适应PID控制方法．控制与决策，1996，3：25～28．
[27] 杨文峰．参数自调整模糊控制交流调速系统的研究．电工技术杂志，2001，9：17～20．
[28] 许汶庆．高精度交流数字伺服系统的智能PID控制．中国智能自动化学术会议论文集(上)，1996：87～90．
[29] 陈松力．行程控制与速度给定方法．电气自动化，2002，3：45～48．
[30] 刘国荣．模糊自适应PID控制器．控制与决策，1995，6：47～49．
[31] 沈明新．具有智能积分作用的模糊控制器．中国控制与决策学术年会论文集，1997：124．120～
[32] 王宏华．开关磁阻电动机比例因子自调整模糊控制器设计．电气传动，2001，2：23～26．
[33] 张跃勤．变频调速闭环系统模糊自校正PI控制技术．电工技术，2003，1：27～30．
[34] 胡廷献．矿井提升机直流调速系统速度环的动态设计过程．电气传动，2002，4：21～24．
[35] Wang Lixin. Fuzzy systems are universal approximators.IEEE Fuzzy'92,1992: 35～37.
[36] L.A.Zadeh. Toward a Theory of Fuzzy Systems. In: Holt,Rincharts,Winston, Aspects of Network and System Theory,1971: 46～49.
[37] 李士勇．模糊控制、神经控制和智能控制．哈工大出版社，1997．
[38] 张运波．微机控制系统中PWM的实现．电工技术杂志，2002，8：28～30．
[39] 陈汝全．实用微机与单片机控制技术．电子科技大学出版社，1993：77～105．
[40] 谭建成．电机控制专用集成电路．机械工业出版社，1997．
[41] 张峻．MATLAB软件包与控制系统设计及仿真．电气自动化，1997：1～32．
[42] 李华．MCS—51系列单片机实用接口技术．北京：北京航空航天大学出版社，1991．
[43] F.Profurno and A.Boglietti etc. Space Vector and Sinusoidal PWM Techniques Comparison Keeping in Account the Secondary Effects. IEEE.92 P_(ROC):394-399.
[46] F.Profumo and A.Boglietti etc. Space Vector and Sinusoidal PWM Techniques Comparison Keeping in Account the Secondary Effects. IEEE.92 P_(ROC).pp.394-399
[2] 郭庆鼎．高性能永磁直线同步电机鲁棒速度伺服系统的研究．电气传动，2001，4：23-26．：
[3] IEE of Japan Linear Drives for Industry Application Tokyo: IEE of Jap,1998,2:5～15.
[4] 叶云岳．直线电机原理与应用．北京：机械工业出版社，2000．
[5] Kollmorgen Motion Technologies Group. Direct Drive Linear Motors, 1997:1～50.
[6] 张琛著．直流无刷电动机原理及应用．北京：机械工业出版社，2001．
[7] 扬贵杰．无刷电动机直接驱动系统动态特性分析．电机与控制学报，2000，1：1～5．
[8] 郭庆鼎等著．直线交流伺服系统的精密控制技术．北京：机械工业出版社，2000．
[9] 沈建新．电动自行车轮毂式无刷直流电机结构分析．电工电能新技术，1998，5：5～7．
[10] 汪木兰．无刷直流力矩电机驱动高性能伺服系统的研究．电气传动，2001，3：23～25．
[11] 许实章．电机学．北京：机械工业出版社，1999．
[12] Robert B .Attack of Linear Motors. Manufacturing Engineering, 1997,5:11～14.
[13] 顾绳谷．电机及拖动基础．北京：机械工业出版社，1981．
[14] P.Pillay. Modeling of Permanent Magnet Motor Drives. IEEE, 1987:1～16.
[15] P.Pillay. Application Characteristics of Permanent Magnet Synchronous and Brushless Dc Motor for Servo Drives. IEEE, 1987,3:8～22.
[16] 王成元．矢量控制交流伺服驱动电动机．机械工业出版社，1995．
[17] David L. Trumper, Won-jong Kim, Mark E. Williams. Design and Analysis Framework for line permanent-Magnet Machines. IEEE. Trans. on Ind. Ele, March/April 1996:371～379.
[18] 陈伯时．电力拖动自动控制系统．北京：机械工业出版社，1992．
[19] Jeong-hyoun Sung and Kwanghee Nam. A New Approach to Vector Control for a Linear Induction Motor Considering End Effects. IEEE.99 Proc:2284-2289.
[20] Shigeo Morimoto. Servo Drive System and Control Characteristics and Control Characteristics of Salient Pole Permanent Synchronous Motor.IEEE, 1993, 4:45～48.
[21] 张毅刚．单片机应用设计．哈尔滨工业大学出版社，1990．
[22] 于锡存．单片机原理及接口技术．西安电子科技大学出版社，2000．
[23] 冯冬青．模糊智能控制．化学工业出版社，1998．
[24] 汤兵勇．模糊控制理论与应用技术．清华大学出版社，2002．
[25] 徐志良基于模式识别的数字伺服系统智能PID控制．电气自动化，2002，5：32-37．
[26] 李卓．基于神经网络的模糊自适应PID控制方法．控制与决策，1996，3：25～28．
[27] 杨文峰．参数自调整模糊控制交流调速系统的研究．电工技术杂志，2001，9：17～20．
[28] 许汶庆．高精度交流数字伺服系统的智能PID控制．中国智能自动化学术会议论文集(上)，1996：87～90．
[29] 陈松力．行程控制与速度给定方法．电气自动化，2002，3：45～48．
[30] 刘国荣．模糊自适应PID控制器．控制与决策，1995，6：47～49．
[31] 沈明新．具有智能积分作用的模糊控制器．中国控制与决策学术年会论文集，1997：124．120～
[32] 王宏华．开关磁阻电动机比例因子自调整模糊控制器设计．电气传动，2001，2：23～26．
[33] 张跃勤．变频调速闭环系统模糊自校正PI控制技术．电工技术，2003，1：27～30．
[34] 胡廷献．矿井提升机直流调速系统速度环的动态设计过程．电气传动，2002，4：21～24．
[35] Wang Lixin. Fuzzy systems are universal approximators.IEEE Fuzzy'92,1992: 35～37.
[36] L.A.Zadeh. Toward a Theory of Fuzzy Systems. In: Holt,Rincharts,Winston, Aspects of Network and System Theory,1971: 46～49.
[37] 李士勇．模糊控制、神经控制和智能控制．哈工大出版社，1997．
[38] 张运波．微机控制系统中PWM的实现．电工技术杂志，2002，8：28～30．
[39] 陈汝全．实用微机与单片机控制技术．电子科技大学出版社，1993：77～105．
[40] 谭建成．电机控制专用集成电路．机械工业出版社，1997．
[41] 张峻．MATLAB软件包与控制系统设计及仿真．电气自动化，1997：1～32．
[42] 李华．MCS—51系列单片机实用接口技术．北京：北京航空航天大学出版社，1991．
[43] F.Profurno and A.Boglietti etc. Space Vector and Sinusoidal PWM Techniques Comparison Keeping in Account the Secondary Effects. IEEE.92 P_(ROC):394-399.
[46] F.Profumo and A.Boglietti etc. Space Vector and Sinusoidal PWM Techniques Comparison Keeping in Account the Secondary Effects. IEEE.92 P_(ROC).pp.394-399
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