交流伺服系统可重构和网络化控制技术研究
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摘要
由于采用传统控制方法的交流伺服系统存在性能单一、应用范围窄和开放性差的问题,采用专用网络实现的网络化交流伺服系统存在成本高和开放性较差的缺点,为了降低系统的成本、拓宽系统的应用范围和增强系统的开放性,本文以交流伺服系统可重构和网络化控制为研究内容,进行了以下方面的研究。
交流伺服系统策略可重构控制器的研究。本文详细分析了一些简单、具有不同特点以及容易实现的控制策略,深入讨论了它们的特点及其应用场合;然后结合交流伺服系统的一般性能要求和应用环境,设计了控制器的策略重构流程和规则。仿真和实验结果都验证了各种控制策略性能特点的正确性、策略重构规则的合理性以及策略重构化控制的可行性。
通用网络协议分析以及消息延时特性的研究。为了便于将通用网络用于网络化交流位置伺服系统和有效地消除网络延时对系统性能的影响,本文首先从理论上分析了目前应用较广的三种网络——以态网(Ethernet)、控制网(ControlNet)和控制局域网(Control Area Network, CAN)的协议;然后总结出了由它们实现的网络系统的消息传输延时、系统节点数和消息发送周期之间的关系;最后给出了基于CAN总线的网络化交流位置伺服系统的网络结构,这种结构可以有效地降低系统的成本和增强其开放性。
提出了一种面向CAN总线网络的基于消息生命期的动态分布式调度方法,分析了该方法的实现原理和消息完全可调度的必要条件。由实验结果得出,提出的消息调度方法能确定性地满足消息生命期的要求,使网络系统具有高灵活性、支持多种类型的消息在网络中传输和支持网络带宽的动态分配的特点。
提出一种获取系统状态反馈最大允许时间间隔的方法,以此结合消息调度方法可实现对采用通用网络构建的交流位置伺服系统进行网络化控制。该方法得到的状态反馈最大允许时间间隔保守性较小。仿真和实验结果验证了该方法的正确性。
以策略重构规则、消息调度方法和系统状态反馈最大允许时间间隔求取方法为基础,本文以DSP-TMS320LF2407A为核心器件设计了交流伺服系统策略可重构和网络化控制的实验平台,并设计了系统的控制软件。实验结果表明,与非网络化位置控制系统相比,它们具有相似的位置控制性能。
Because the AC servo systems based on the conventional control method can only satisfy the single aspect of performance, its application adaptability and openess will be limited. Currently, the proprietary networked control AC servo systems cost is high, and its open ability is poor. Aiming at reducing the system’s design cost, obtaining the wide application range and a good openess, this dissertation is focused on the study of the reconfigurable and networked control of AC servo systems, and the main contents are as follows.
The study of the reconfigurable controller of AC servo systems is done. In this dissertation, the reconfigurable controller adopting some simple control strategies with different characteristics, were theoretically analyzed in detail. According to the performance requirements and the application environment of AC servo systems in application, the reconfigurable rules of control strategies are presented. The characteristics of control strategies are tested by the experiment and simulation results. The rationality of reconfiguration rules and validity of the reconfigurable control is proven
The analysis of communication protocol and the study on network-induced delay are done. In order to use some general communication networks in AC servo systems and eliminate the effect coming from the network-induced delay, some communication networks, such as Ethernet, ControlNet and CAN network, were analyzed in this dissertation. The relationship between the network-induced delay, the number of node, and the transmission period of messages is discovered. The configuration of the networked AC servo systems based on CAN has been setup, and it can reduce cost and enhance the open ability.
A distributed dynamic message scheduling strategy based on the deadline of the message was proposed in CAN-based networked control systems. The realization principle of message scheduling strategy and the necessary condition of full schedulability of messages were investigated in detail. According to some experimental results, this strategy can satisfy some necessary performance requirements of the networked control systems, such as the deadline requirement, promoting system flexibility, the fairness of bandwidth allocation, supporting all kinds of messages and so on.
A new method that can obtain the status feedback maximum allowable time interval(MATI) with less conservation was proposed. Based on this and the message scheduling strategy, we can control the networked AC servo systems deterministicly and obtain the expected system performance.Finally, the correctness of this method have been verified by simulation and experiment.
On the basis of the analysis of the reconfigurable controller, the study of message scheduling strategy and the computation method of the MATI, the hardware platform on the reconfigurable and networked control of AC servo systems with two motors has been constructed and the control software has also been designed. According to the experimental results, they have almost the same performance as non-networked AC servo position control systems.
交流伺服系统策略可重构控制器的研究。本文详细分析了一些简单、具有不同特点以及容易实现的控制策略,深入讨论了它们的特点及其应用场合;然后结合交流伺服系统的一般性能要求和应用环境,设计了控制器的策略重构流程和规则。仿真和实验结果都验证了各种控制策略性能特点的正确性、策略重构规则的合理性以及策略重构化控制的可行性。
通用网络协议分析以及消息延时特性的研究。为了便于将通用网络用于网络化交流位置伺服系统和有效地消除网络延时对系统性能的影响,本文首先从理论上分析了目前应用较广的三种网络——以态网(Ethernet)、控制网(ControlNet)和控制局域网(Control Area Network, CAN)的协议;然后总结出了由它们实现的网络系统的消息传输延时、系统节点数和消息发送周期之间的关系;最后给出了基于CAN总线的网络化交流位置伺服系统的网络结构,这种结构可以有效地降低系统的成本和增强其开放性。
提出了一种面向CAN总线网络的基于消息生命期的动态分布式调度方法,分析了该方法的实现原理和消息完全可调度的必要条件。由实验结果得出,提出的消息调度方法能确定性地满足消息生命期的要求,使网络系统具有高灵活性、支持多种类型的消息在网络中传输和支持网络带宽的动态分配的特点。
提出一种获取系统状态反馈最大允许时间间隔的方法,以此结合消息调度方法可实现对采用通用网络构建的交流位置伺服系统进行网络化控制。该方法得到的状态反馈最大允许时间间隔保守性较小。仿真和实验结果验证了该方法的正确性。
以策略重构规则、消息调度方法和系统状态反馈最大允许时间间隔求取方法为基础,本文以DSP-TMS320LF2407A为核心器件设计了交流伺服系统策略可重构和网络化控制的实验平台,并设计了系统的控制软件。实验结果表明,与非网络化位置控制系统相比,它们具有相似的位置控制性能。
Because the AC servo systems based on the conventional control method can only satisfy the single aspect of performance, its application adaptability and openess will be limited. Currently, the proprietary networked control AC servo systems cost is high, and its open ability is poor. Aiming at reducing the system’s design cost, obtaining the wide application range and a good openess, this dissertation is focused on the study of the reconfigurable and networked control of AC servo systems, and the main contents are as follows.
The study of the reconfigurable controller of AC servo systems is done. In this dissertation, the reconfigurable controller adopting some simple control strategies with different characteristics, were theoretically analyzed in detail. According to the performance requirements and the application environment of AC servo systems in application, the reconfigurable rules of control strategies are presented. The characteristics of control strategies are tested by the experiment and simulation results. The rationality of reconfiguration rules and validity of the reconfigurable control is proven
The analysis of communication protocol and the study on network-induced delay are done. In order to use some general communication networks in AC servo systems and eliminate the effect coming from the network-induced delay, some communication networks, such as Ethernet, ControlNet and CAN network, were analyzed in this dissertation. The relationship between the network-induced delay, the number of node, and the transmission period of messages is discovered. The configuration of the networked AC servo systems based on CAN has been setup, and it can reduce cost and enhance the open ability.
A distributed dynamic message scheduling strategy based on the deadline of the message was proposed in CAN-based networked control systems. The realization principle of message scheduling strategy and the necessary condition of full schedulability of messages were investigated in detail. According to some experimental results, this strategy can satisfy some necessary performance requirements of the networked control systems, such as the deadline requirement, promoting system flexibility, the fairness of bandwidth allocation, supporting all kinds of messages and so on.
A new method that can obtain the status feedback maximum allowable time interval(MATI) with less conservation was proposed. Based on this and the message scheduling strategy, we can control the networked AC servo systems deterministicly and obtain the expected system performance.Finally, the correctness of this method have been verified by simulation and experiment.
On the basis of the analysis of the reconfigurable controller, the study of message scheduling strategy and the computation method of the MATI, the hardware platform on the reconfigurable and networked control of AC servo systems with two motors has been constructed and the control software has also been designed. According to the experimental results, they have almost the same performance as non-networked AC servo position control systems.
引文
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