基于DSP的全自动直驱工业平缝机控制系统研究
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摘要
机电一体化是未来工业平缝机的发展的主要趋势,全自动直驱工业平缝机控制系统是基于DSP的无刷直流电机控制系统,集成了光、电、磁为一体的典型机电一体化产品。控制系统以DSP为控制核心,并根据平缝机制动/启动快,调速范围广,定位精确的要求,设计和研制了实验样机,并经过五次改版调试,已基本具备产业化生产的要求。
本论文主要完成了以下几方面工作:
(1).在分析无刷直流电机的结构和数学模型的基础上,提出了相应的控制策略。根据工业平缝机控制系统是一个滞后、时变、非线性的控制系统,对普通PID算法进行了改进,采用分段PID控制方式。
(2).进行了基于DSP全自动工业平缝机控制性系统的软硬件设计。硬件包括电源、IPM驱动电路、DSP控制电路、键盘电路、码盘电路以及脚踏板电路。针对直驱工业平缝机功能多且逻辑复杂的特点,软件部分重点对程序进行了模块化设计。
(3).实验研究了控制系统的调速性能和停针位置,考核了各种控制策略,各项指标均能满足平缝机的性能要求。
Mechatronics is inevitable trend of the development of industry sewing machine, which is direct-drived by Blushless DC Motor and controlled by DSP. This system integrated optical, electrical and magnetic as one of the typical mechanical and electrical integration products. DSP is the heart of the control system; the experimental prototype is based on specific analysis of the sewing machine performance requirements which is fast start/hold, wide range of speed and precise positioning. It has been revised five times for industrial production. It basically meets the demand of industrial production.
The main work of this paper is as follows.
(1) Based on the introduction of structure and mathematical model of BLDCM, and Industry Sewing Machine is a hysteretic, time-variant and nonlinear system. Sub-PID is used because that traditional PID can not deal with the complex situations.
(2) The hardware and software for Industrial Sewing Machine based on DSP is designed, including Power circuit, IPM Driving Circuit, Control Circuit of DSP, Keyboard Circuit, Pedal circuit. Because the Direct-Drive Industrial Sewing Machine has complex logic and functions, the software makes the program as modules and the main program will be simple and easily updated.
(3) The experiments proved that the speed control system and stop-position can meet the performance requirements of Industry Sewing Machine.
本论文主要完成了以下几方面工作:
(1).在分析无刷直流电机的结构和数学模型的基础上,提出了相应的控制策略。根据工业平缝机控制系统是一个滞后、时变、非线性的控制系统,对普通PID算法进行了改进,采用分段PID控制方式。
(2).进行了基于DSP全自动工业平缝机控制性系统的软硬件设计。硬件包括电源、IPM驱动电路、DSP控制电路、键盘电路、码盘电路以及脚踏板电路。针对直驱工业平缝机功能多且逻辑复杂的特点,软件部分重点对程序进行了模块化设计。
(3).实验研究了控制系统的调速性能和停针位置,考核了各种控制策略,各项指标均能满足平缝机的性能要求。
Mechatronics is inevitable trend of the development of industry sewing machine, which is direct-drived by Blushless DC Motor and controlled by DSP. This system integrated optical, electrical and magnetic as one of the typical mechanical and electrical integration products. DSP is the heart of the control system; the experimental prototype is based on specific analysis of the sewing machine performance requirements which is fast start/hold, wide range of speed and precise positioning. It has been revised five times for industrial production. It basically meets the demand of industrial production.
The main work of this paper is as follows.
(1) Based on the introduction of structure and mathematical model of BLDCM, and Industry Sewing Machine is a hysteretic, time-variant and nonlinear system. Sub-PID is used because that traditional PID can not deal with the complex situations.
(2) The hardware and software for Industrial Sewing Machine based on DSP is designed, including Power circuit, IPM Driving Circuit, Control Circuit of DSP, Keyboard Circuit, Pedal circuit. Because the Direct-Drive Industrial Sewing Machine has complex logic and functions, the software makes the program as modules and the main program will be simple and easily updated.
(3) The experiments proved that the speed control system and stop-position can meet the performance requirements of Industry Sewing Machine.
引文
[1]贺欣HVP-90AC伺服马达使用说明书[EB]贺欣机械厂股份有限公司,2007
[2]鲍麦克斯AT(R)50-65数控交流伺服系统说明书[EB]上海鲍麦克斯电子科技有限公司,2007
[3]中国缝纫机市场步入转型升级新阶段[EB]经济日报,2008.09.02
[4]郑吉,王学普.无刷直流电机控制技术综述[J]微特电机,2002,(3),11-13
[5]陈丹江.高速工业平缝机智能控制器的研制[D]杭州:浙江大学硕士,2005
[6]王红涛.基于DSP的工业缝纫机控制系统研究[D]安徽:合肥工业大学,2009.
[7]杨薇薇,沈安文.基于DSP的工业缝纫机驱动控制器的研究[J]机械研究与应用,2005,18(3):119-120
[8]陈红琳,朱志红,彭学文.基于TMS320LF240x DSP的无刷直流电机控制器的设计[J],2003,(3),21-23
[9]詹阳,邱阿瑞,肖曦.基于DSP全数字工业缝纫机交流伺服系统[J]电力电子技术,2005,39(2),86-89
[10]刘峙飞.工业平缝机伺服控制系统研究[D]杭州:浙江大学,2005.
[11]任军军.永磁无刷直流电机的转矩脉动抑制的控制策略研究[D]杭州:浙江大学,2004
[12]胡德祥.美国无刷直流电动机市场和技术发展动向[J]微电机,1991,24(4),P26-29。
[13]方光辉.变频调速技术在工业缝纫机中的应用[J]电气传动,2004(1):59-61
[14]许大中,贺益康.电机控制[M]杭州:浙江大学出版社,2002
[15]张探.直流无刷电动机原理及应用[M]北京:机械工业出版社,2004:167
[16]叶京虎,徐思海.无刷直流电动机[M]北京:科学出版社,1982
[17]Murai Y,Kawase Y,Ohashi K.Torque Ripple Improvement for Brushless DC miniature Motors[J].IEEE Trans on Ind.Appli.1989,25(3):441-449.
[18]Pillay P,Krishnan R.Modeling,Simulation,and Analysis of Permanent-Magnet Motor Drives,Part Ⅰ:The Permanent-Magnet Synchronous Motor Drive[J].IEEE Trans.on Industry Applications,1989,25(2):265-273
[19]吴守箴等.电气传动的脉宽调制控制技术[M]机械工业出版社,2001
[20]张伟,陈丹江,韦鲲,张仲超.电流预测控制在缝纫机控制器中的应用[J]纺织学报,2007,28(1),112-115
[21]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的研究[J]电机与控制学报,2003,7(2),87-91
[22]韦鲲,林平,熊宇,张仲超.无刷直流电机PWM调制方式的优化研究[J]浙江大学学报(工学版),2005,39(7),1038-1042
[23]林平,韦鲲,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J]中国电机工程学报,2006,26(3):153-158
[24]朱宏伟,邹继斌.低成本永磁同步电动机驱动器的软硬件架构及实现[J]电机与控制学报,2007,11(4):345-348
[25]唐一萌,唐永哲,王明亮.基于DSP的工业缝纫机用电机控制系统[J]电机与控制应用,2008,35(2):29-32
[26]王晓明,王玲.电动机的DSP控制--TI公司DSP应用[M]北京:北京航空航天大学出版社,2004
[27]刘和平,严利平,张学锋等.TMS320LF240x DSP结构、原理及应用[M]北京:北京航空航天大学出版社,2002
[28]张占松,蔡旋三.开关电源的原理与设计[M].北京:电子工业出版社,2004.
[29]杨旭,裴云庆,王兆安.开关电源技术[M].北京:机械工业出版社,2007.
[30]ON Semiconductor.NCP1337 Datasheet[EB].Http://www.onsemi.com.
[31]ON Semiconductor.Designing NCP1337[EB].Http://www.onsemi.com
[32]靳文汇,范蟠果,闫少雄等.一种反激式开关电源变压器改进设计方法研究[J]电力电子技术,2009,43(1),62-63
[33]李大伟,邓翔,杨善水.用于大功率LED驱动的单端反激恒流源设计[J]电力电子技术,2009,43(7),84-86
[34]林渭勋.现代电力电子电路[M]浙江:浙江大学出版社,2006.
[35]孙云云,楼彦华,任军军等.基于NCP1337准谐振电源分析和设计[J]电源技术应用,2009,12(1),19-22.
[36]IR International Rectifier IRAMS10UP60B Datasheet[EB].http://www.irf.com.cn/
[37]李广海,叶永,蒋静坪.IPM驱动和保护电路研究[J]自动化和仪器仪表,2003,29(12),43-49.
[38]邓中亮,刘爱斌.利用定时器中断实现CH452键盘驱动[J]计算机工程与设计,2009,30(19),4371-4373
[39]南京沁恒电子.数码管驱动及键盘控制芯片CH452中文手册[EB]
[40]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2002:101
[41]郝晓弘,原学平,魏祥林.无刷直流电机智能控制系统的研究[J]控制工程2003,10(z2),75-77
[42]HILKERT J M,HULLENDER D A.Adaptive control system techniques applied to inertial stabilization systems[C]//SPIE Conference on Acquisition,and Pointing Ⅳ.Florida:Spie-Intanational Society for Optical Engineering,1990,1304:190 - 206
[43]WOO Zhi-Wei,CHUNG Hung-Yuan,LIN Jin-Jye.A PID type fuzzy controller with self-tuning scaling factors[J].Fuzzy Sets and Systems,2000,115(3):321 - 326.
[44]Irfan Guney,Yukset Oguz,Fusun Serteller.Dynamic Behavior Model of Permanent Magnet Synchronous Motor Fed by PWM Inverter and Fuzzy Logic Controller for Stator Phase Current,Flux and Torque Control of PMSM[C].IEEE Proceeding from Electric Machines and Drives Conference,2001,14-17:479-485
[45]纪志成,沈艳霞,薛花.无刷直流电机自适应模糊控制的研究[J]电机工程学报,2005,25(5),104-109
[46]胡延苏,何德全,高昂.工业平缝机控制系统的软件构架设计[J]测控技术,2009,28(7):72-74
[47]刘玉庆,王冉冉.基于DSP的永磁无刷直流电动机起动策略[J]山东大学学报(工学版)2004,34(1),47-50
[48]姜建奎,刘建成.高速工业平缝机转速测量方法研究[J]现在电子技,2009,292(5),105-107
[49]Bolopion A,Jouve D,Pacaut R.Control of Permanent Magnets Synchronous Machines a Simulation Comparative Survey[C].IEEE Proceeding from Applied Power Electronics Conference and Exposition,1990,11-16:374-383.
[50]Pillay P,Krishnan R.Modeling,Simulation,and Analysis of Permanent-Magnet Motor Drives,Part Ⅰ:The Permanent-Magnet Synchronous Motor Drive[J].IEEE Trans.on Industry Applications,1989,25(2):265-273..
[51]Pillay P,KrishnanR.Modeling,simulation,and analysis of permanent-magnet motor drive[J].IEEE Transactions on Industry Applications,1989,25(2):274-279.
[52]林平,陈丹江,韦鲲等.高速工业平缝机精确停针定位控制[J]纺织学报,2006,27(12):25-28
[53]陈丹江,彭涛,张伟.工业平缝机回缝线迹质量[J]纺织学报,2007,28(10),100-102
[2]鲍麦克斯AT(R)50-65数控交流伺服系统说明书[EB]上海鲍麦克斯电子科技有限公司,2007
[3]中国缝纫机市场步入转型升级新阶段[EB]经济日报,2008.09.02
[4]郑吉,王学普.无刷直流电机控制技术综述[J]微特电机,2002,(3),11-13
[5]陈丹江.高速工业平缝机智能控制器的研制[D]杭州:浙江大学硕士,2005
[6]王红涛.基于DSP的工业缝纫机控制系统研究[D]安徽:合肥工业大学,2009.
[7]杨薇薇,沈安文.基于DSP的工业缝纫机驱动控制器的研究[J]机械研究与应用,2005,18(3):119-120
[8]陈红琳,朱志红,彭学文.基于TMS320LF240x DSP的无刷直流电机控制器的设计[J],2003,(3),21-23
[9]詹阳,邱阿瑞,肖曦.基于DSP全数字工业缝纫机交流伺服系统[J]电力电子技术,2005,39(2),86-89
[10]刘峙飞.工业平缝机伺服控制系统研究[D]杭州:浙江大学,2005.
[11]任军军.永磁无刷直流电机的转矩脉动抑制的控制策略研究[D]杭州:浙江大学,2004
[12]胡德祥.美国无刷直流电动机市场和技术发展动向[J]微电机,1991,24(4),P26-29。
[13]方光辉.变频调速技术在工业缝纫机中的应用[J]电气传动,2004(1):59-61
[14]许大中,贺益康.电机控制[M]杭州:浙江大学出版社,2002
[15]张探.直流无刷电动机原理及应用[M]北京:机械工业出版社,2004:167
[16]叶京虎,徐思海.无刷直流电动机[M]北京:科学出版社,1982
[17]Murai Y,Kawase Y,Ohashi K.Torque Ripple Improvement for Brushless DC miniature Motors[J].IEEE Trans on Ind.Appli.1989,25(3):441-449.
[18]Pillay P,Krishnan R.Modeling,Simulation,and Analysis of Permanent-Magnet Motor Drives,Part Ⅰ:The Permanent-Magnet Synchronous Motor Drive[J].IEEE Trans.on Industry Applications,1989,25(2):265-273
[19]吴守箴等.电气传动的脉宽调制控制技术[M]机械工业出版社,2001
[20]张伟,陈丹江,韦鲲,张仲超.电流预测控制在缝纫机控制器中的应用[J]纺织学报,2007,28(1),112-115
[21]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的研究[J]电机与控制学报,2003,7(2),87-91
[22]韦鲲,林平,熊宇,张仲超.无刷直流电机PWM调制方式的优化研究[J]浙江大学学报(工学版),2005,39(7),1038-1042
[23]林平,韦鲲,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J]中国电机工程学报,2006,26(3):153-158
[24]朱宏伟,邹继斌.低成本永磁同步电动机驱动器的软硬件架构及实现[J]电机与控制学报,2007,11(4):345-348
[25]唐一萌,唐永哲,王明亮.基于DSP的工业缝纫机用电机控制系统[J]电机与控制应用,2008,35(2):29-32
[26]王晓明,王玲.电动机的DSP控制--TI公司DSP应用[M]北京:北京航空航天大学出版社,2004
[27]刘和平,严利平,张学锋等.TMS320LF240x DSP结构、原理及应用[M]北京:北京航空航天大学出版社,2002
[28]张占松,蔡旋三.开关电源的原理与设计[M].北京:电子工业出版社,2004.
[29]杨旭,裴云庆,王兆安.开关电源技术[M].北京:机械工业出版社,2007.
[30]ON Semiconductor.NCP1337 Datasheet[EB].Http://www.onsemi.com.
[31]ON Semiconductor.Designing NCP1337[EB].Http://www.onsemi.com
[32]靳文汇,范蟠果,闫少雄等.一种反激式开关电源变压器改进设计方法研究[J]电力电子技术,2009,43(1),62-63
[33]李大伟,邓翔,杨善水.用于大功率LED驱动的单端反激恒流源设计[J]电力电子技术,2009,43(7),84-86
[34]林渭勋.现代电力电子电路[M]浙江:浙江大学出版社,2006.
[35]孙云云,楼彦华,任军军等.基于NCP1337准谐振电源分析和设计[J]电源技术应用,2009,12(1),19-22.
[36]IR International Rectifier IRAMS10UP60B Datasheet[EB].http://www.irf.com.cn/
[37]李广海,叶永,蒋静坪.IPM驱动和保护电路研究[J]自动化和仪器仪表,2003,29(12),43-49.
[38]邓中亮,刘爱斌.利用定时器中断实现CH452键盘驱动[J]计算机工程与设计,2009,30(19),4371-4373
[39]南京沁恒电子.数码管驱动及键盘控制芯片CH452中文手册[EB]
[40]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2002:101
[41]郝晓弘,原学平,魏祥林.无刷直流电机智能控制系统的研究[J]控制工程2003,10(z2),75-77
[42]HILKERT J M,HULLENDER D A.Adaptive control system techniques applied to inertial stabilization systems[C]//SPIE Conference on Acquisition,and Pointing Ⅳ.Florida:Spie-Intanational Society for Optical Engineering,1990,1304:190 - 206
[43]WOO Zhi-Wei,CHUNG Hung-Yuan,LIN Jin-Jye.A PID type fuzzy controller with self-tuning scaling factors[J].Fuzzy Sets and Systems,2000,115(3):321 - 326.
[44]Irfan Guney,Yukset Oguz,Fusun Serteller.Dynamic Behavior Model of Permanent Magnet Synchronous Motor Fed by PWM Inverter and Fuzzy Logic Controller for Stator Phase Current,Flux and Torque Control of PMSM[C].IEEE Proceeding from Electric Machines and Drives Conference,2001,14-17:479-485
[45]纪志成,沈艳霞,薛花.无刷直流电机自适应模糊控制的研究[J]电机工程学报,2005,25(5),104-109
[46]胡延苏,何德全,高昂.工业平缝机控制系统的软件构架设计[J]测控技术,2009,28(7):72-74
[47]刘玉庆,王冉冉.基于DSP的永磁无刷直流电动机起动策略[J]山东大学学报(工学版)2004,34(1),47-50
[48]姜建奎,刘建成.高速工业平缝机转速测量方法研究[J]现在电子技,2009,292(5),105-107
[49]Bolopion A,Jouve D,Pacaut R.Control of Permanent Magnets Synchronous Machines a Simulation Comparative Survey[C].IEEE Proceeding from Applied Power Electronics Conference and Exposition,1990,11-16:374-383.
[50]Pillay P,Krishnan R.Modeling,Simulation,and Analysis of Permanent-Magnet Motor Drives,Part Ⅰ:The Permanent-Magnet Synchronous Motor Drive[J].IEEE Trans.on Industry Applications,1989,25(2):265-273..
[51]Pillay P,KrishnanR.Modeling,simulation,and analysis of permanent-magnet motor drive[J].IEEE Transactions on Industry Applications,1989,25(2):274-279.
[52]林平,陈丹江,韦鲲等.高速工业平缝机精确停针定位控制[J]纺织学报,2006,27(12):25-28
[53]陈丹江,彭涛,张伟.工业平缝机回缝线迹质量[J]纺织学报,2007,28(10),100-102