工业平缝机伺服控制系统的研究
摘要
工业平缝机是为了适应大规模高要求的轻纺业的智能高效缝纫机。随着纺织工业的发展,缝制工艺要求也越来越高,对工业平缝机提出了更高的要求。本课题的主要内容是研究开发一种高效的平缝机伺服控制器,以满足缝制业对平缝机伺服控制器的需求。本文详细叙述了该课题的研究与开发过程,从实际应用与需求出发,结合高性价比的控制芯片TMS320LF28016,开发出一种性能高效的平缝机伺服控制器。
第一章首先介绍了平缝机控制器发展状况,简单介绍了平缝机电控系统的组成与结构,以及各种常见的缝制功能。介绍了平缝机伺服控制的特点,分析了平缝机在控制过程中的特殊要求与难点。
第二章对现在各种平缝机控制器进行了对比分析,叙述了各种平缝机采用的控制方案。还对平缝机中广泛采用的永磁同步电机控制方法进行了简单的叙述。在全面的研究与各种方案优缺点的分析后,采用了无刷直流电机,确定了总体控制策略。
第三章对平缝机伺服控制系统的硬件设计进行了详细的叙述。然后与采用的无刷直流电机控制方法相结合,以实现平缝机各种功能为目标,叙述了硬件电路的设计过程。包括功率驱动电路,电磁铁控制电路,数字控制电路,信号采集电路等。
第四章主要叙述了平缝机中最重要的电机转速与位置控制。先是简单介绍了无刷直流电机的原理。针对无刷直流电机的主要问题一转矩脉动,采用了能有效抑制转矩脉动的PWM-ON调制方式。从实际应用出发,提出了无刷直流电机的分段PI调速方案,及快速启动方案。针对缝纫机中精确定位的要求,详细分析了无刷直流电机的制动停机过程。
第五章详细介绍了整个系统的软件设计部分。本章在分析了TMS320LF28016芯片内部结构与性能的基础上,针对平缝机各种功能,进行了模块化的设计。主要包括软件的整体设计,人机交互模块,电机控制模块,缝制功能模块。
第六章对全文的工作进行了总结。
The industrial sewing machine is an intelligent machine which is designed for the high efficiency and extensive use in textiles. With the development of the textiles, the requirements of industrial sewing machine increases to meet the high demand in spinning. In this thesis we will develop a servo-system controller of the industrial sewing machine to meet the demand in textiles. This paper will give the process of the research and development in detail. Based on practical application, used the DSP chip TMS320LF28016, an efficient control system was designed.
In the first chapter, the development of the domestic sewing machine controller is introduced. The structure and the functions of the sewing machine controller are described. According to the requests of the position servo-system control, the paper proposed the difficulties in the controller of the sewing machine.
The second chapter discusses the comparisons among the sewing machine controllers; introduce the solutions which are used in sewing machine. Then the dissertation introduces the control methods of permanent magnet motor which is widely used in sewing machine. After comprehensive study with these methods we decide to use brushless DC motor (BLDCM), determine the control strategy.
In the third chapter, the hardware design of the sewing machine control system is analyzed in detail. Based on the control method of the brushless DC motor, to achieve the functions of the sewing machine, the paper gives the detailed process of the hardware circuit design including motor drive circuit, the electromagnet control circuit, the digital control circuit and the signal detection circuit.
The next chapter discusses the speed and position control which is the most important in sewing machine. In the beginning the principle of the brushless DC motor is introduced. For the main problem in brushless DC motor--torque ripples, a new PWM method (PWM-ON method) was proposed and was proved to be very efficient in reducing the torque ripple. From practical application we use a two-stage PI speed control method and rapid response method in start process of motor. For the demand of the pinpoint in sewing machine, the dissertation will analyze the brake process of the motor in detail.
The fifth chapter will detailed introduce the soft system. By analyzing the structure and the performance of Tms320Lf28016, the functions of the sewing machine are designed in module including Human-Computer interaction module, motor control module, sewing function module.
The last chapter makes a simple summarization about the whole dissertation.
第一章首先介绍了平缝机控制器发展状况,简单介绍了平缝机电控系统的组成与结构,以及各种常见的缝制功能。介绍了平缝机伺服控制的特点,分析了平缝机在控制过程中的特殊要求与难点。
第二章对现在各种平缝机控制器进行了对比分析,叙述了各种平缝机采用的控制方案。还对平缝机中广泛采用的永磁同步电机控制方法进行了简单的叙述。在全面的研究与各种方案优缺点的分析后,采用了无刷直流电机,确定了总体控制策略。
第三章对平缝机伺服控制系统的硬件设计进行了详细的叙述。然后与采用的无刷直流电机控制方法相结合,以实现平缝机各种功能为目标,叙述了硬件电路的设计过程。包括功率驱动电路,电磁铁控制电路,数字控制电路,信号采集电路等。
第四章主要叙述了平缝机中最重要的电机转速与位置控制。先是简单介绍了无刷直流电机的原理。针对无刷直流电机的主要问题一转矩脉动,采用了能有效抑制转矩脉动的PWM-ON调制方式。从实际应用出发,提出了无刷直流电机的分段PI调速方案,及快速启动方案。针对缝纫机中精确定位的要求,详细分析了无刷直流电机的制动停机过程。
第五章详细介绍了整个系统的软件设计部分。本章在分析了TMS320LF28016芯片内部结构与性能的基础上,针对平缝机各种功能,进行了模块化的设计。主要包括软件的整体设计,人机交互模块,电机控制模块,缝制功能模块。
第六章对全文的工作进行了总结。
The industrial sewing machine is an intelligent machine which is designed for the high efficiency and extensive use in textiles. With the development of the textiles, the requirements of industrial sewing machine increases to meet the high demand in spinning. In this thesis we will develop a servo-system controller of the industrial sewing machine to meet the demand in textiles. This paper will give the process of the research and development in detail. Based on practical application, used the DSP chip TMS320LF28016, an efficient control system was designed.
In the first chapter, the development of the domestic sewing machine controller is introduced. The structure and the functions of the sewing machine controller are described. According to the requests of the position servo-system control, the paper proposed the difficulties in the controller of the sewing machine.
The second chapter discusses the comparisons among the sewing machine controllers; introduce the solutions which are used in sewing machine. Then the dissertation introduces the control methods of permanent magnet motor which is widely used in sewing machine. After comprehensive study with these methods we decide to use brushless DC motor (BLDCM), determine the control strategy.
In the third chapter, the hardware design of the sewing machine control system is analyzed in detail. Based on the control method of the brushless DC motor, to achieve the functions of the sewing machine, the paper gives the detailed process of the hardware circuit design including motor drive circuit, the electromagnet control circuit, the digital control circuit and the signal detection circuit.
The next chapter discusses the speed and position control which is the most important in sewing machine. In the beginning the principle of the brushless DC motor is introduced. For the main problem in brushless DC motor--torque ripples, a new PWM method (PWM-ON method) was proposed and was proved to be very efficient in reducing the torque ripple. From practical application we use a two-stage PI speed control method and rapid response method in start process of motor. For the demand of the pinpoint in sewing machine, the dissertation will analyze the brake process of the motor in detail.
The fifth chapter will detailed introduce the soft system. By analyzing the structure and the performance of Tms320Lf28016, the functions of the sewing machine are designed in module including Human-Computer interaction module, motor control module, sewing function module.
The last chapter makes a simple summarization about the whole dissertation.
引文
[1]唐苏亚,工业缝纫机用交流伺服电动机,电机技术,1995(4)
[2]杨薇薇,无电流传感器的平缝机交流伺服驱动器研究,华中科技大学硕士论文
[3]方光辉,变频调速技术在工业缝纫机中的应用[J],电气传动
[4]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
[5]唐文秀,交流伺服系统在工业缝纫机中的应用[J],微电机
[6]韩安太,郭小华,新型交流伺服控制系统在工业缝纫机中的应用[J],纺织学报
[7]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影响[J],电机与控制学报,2003,7(2)
[8]陈伯时主编,《电力拖动自动控制系统》,机械工业出版社
[9]白浩,永磁无刷直流电机控制器研究及展望[J],机电工程
[10]周杰,侯燕,无刷直流电机转矩脉动抑制方法综述[J],机电产品开发与创新2007,20(3)
[11]陶永华,《新型PID控制及其应用》,机械工业出版社
[12]林渭勋,《现代电力电子电路》,浙江大学出版社
[13]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,2005,7(7)
[14]庞振岳,唐永哲,一种高速工业平缝机精确制动方法[J],微电机,2005(5)
[15]Mahdi Ashabani,Ali Kashefi Kaviani,Jafar Milimonfared,Babak Abdi.Minimization of Commutation Torque Ripple in Brushless DC Motors with Optimized Input Voltage Control[J].IEEE,11-13,June 2008,Page(s):250-255
[16]Chang-hee Won,Joong-Ho Song,and Ick Choy Commutation Torque Ripple Reduction in Brushless DC Motor Drives Using a Single DC Current Sensor[J].IEEE,Volume 2,23-27,June 2002,Page(s):985-990
[17]S.M.Hwang and D.K.Lieu Reduction of Torque Ripple in Brushless DC Motors[J].IEEE,Volume 31,Issue 6,Part 2,Nov.1995,Page(s):3737-3739
[18]Yoshihiro Murai,Yoshihiro Kawase,etc.Torpue Ripple Improvement for brushless DC motor miniature motors.IEEE transactions on industry applications, Vol.25 No3 1989:p441-450
[19]Gwang-Heon Kim,Seog-Joo Kang,etc.Analysis of the Commutation Torque Ripple for BLDCM fed by HCRPWM-VSI,Applied Power Electronics Conference and Exposition,1992
[20]Chang-hee Won,Joong-Ho Song,Lck Choy Commutation Torque Ripple Reduction in Brushless DC Motor Drives Using a Single DC Current Sensor.Power Electronics,IEEE Transactions on,Volume:19,Issue2,March 2004:p312-319
[21]Changliang Xia,Junhua Liu,Wei Yu and Zhiqiang Li Variable Structure Control of BLDCM Based on Extended State Observer,Proceedings of the IEEE International Conference on Mechatronics & Aotomation,Niagara Falls,Canada,July 2005
[22]Fakham Hicham,Djemai Mohamed,Reama Abdellatif and Blazevic Pierre,Sliding Mode Observer for Position and Speed Estimations in Brushless DC Moter (BLDCM),2004 IEEE International Conference on Industrial Technology(KIT)
[23]Byoung-Kuk Lee,Advanced Low Cost and High Performance Brushless DC Motor Drives For Mass Production.Taxes A&M University,a dissertation submitted for the Degree of Doctor of Philosophy.Dec.2001
[24]姜建奎,刘建成,高速工业平缝机转速测量方法研究[J],现代电子技术,2009,5
[25]陈丹江,高速工业平缝机只能控制器的研制,浙江大学硕士学位论文,2005
[26]周春蛟,全自动工业平缝机控制系统的研制,哈尔滨工业大学硕士学位论文,2006年
[27]楼彦华,孙云云,任军军,郭吉丰,一种低成本直驱工业平缝机控制系统[J],纺织学报2009,10(10)
[28]数码管驱动及键盘控制芯片CH451中文手册
[29]X5043 Datasheet,CPU Supervisor with 4K SPI EEPROM,XICOR公司
[30]TMS320F2801x DSP Data Manual,Texas Instruments公司
[31]胡庆波,郑继文,吕征宇,混合动力中无刷直流电机分解制动PWM调制方式的研究[J],中国电机工程学报,2007,(30)
[32]齐蓉,林辉,陈明,无刷直流电机换相转矩脉动分析与抑制[J],电机与控制学报,2006,3
[33]杨进,杨向宇,一种减小无刷直流电机纹波转矩的新方法[J],微电机,2005,1
[34]章肖明,傅蓉浣,伺服控制系统在缝纫机中的应用[J],机电工程,2006,
[2]杨薇薇,无电流传感器的平缝机交流伺服驱动器研究,华中科技大学硕士论文
[3]方光辉,变频调速技术在工业缝纫机中的应用[J],电气传动
[4]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
[5]唐文秀,交流伺服系统在工业缝纫机中的应用[J],微电机
[6]韩安太,郭小华,新型交流伺服控制系统在工业缝纫机中的应用[J],纺织学报
[7]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影响[J],电机与控制学报,2003,7(2)
[8]陈伯时主编,《电力拖动自动控制系统》,机械工业出版社
[9]白浩,永磁无刷直流电机控制器研究及展望[J],机电工程
[10]周杰,侯燕,无刷直流电机转矩脉动抑制方法综述[J],机电产品开发与创新2007,20(3)
[11]陶永华,《新型PID控制及其应用》,机械工业出版社
[12]林渭勋,《现代电力电子电路》,浙江大学出版社
[13]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,2005,7(7)
[14]庞振岳,唐永哲,一种高速工业平缝机精确制动方法[J],微电机,2005(5)
[15]Mahdi Ashabani,Ali Kashefi Kaviani,Jafar Milimonfared,Babak Abdi.Minimization of Commutation Torque Ripple in Brushless DC Motors with Optimized Input Voltage Control[J].IEEE,11-13,June 2008,Page(s):250-255
[16]Chang-hee Won,Joong-Ho Song,and Ick Choy Commutation Torque Ripple Reduction in Brushless DC Motor Drives Using a Single DC Current Sensor[J].IEEE,Volume 2,23-27,June 2002,Page(s):985-990
[17]S.M.Hwang and D.K.Lieu Reduction of Torque Ripple in Brushless DC Motors[J].IEEE,Volume 31,Issue 6,Part 2,Nov.1995,Page(s):3737-3739
[18]Yoshihiro Murai,Yoshihiro Kawase,etc.Torpue Ripple Improvement for brushless DC motor miniature motors.IEEE transactions on industry applications, Vol.25 No3 1989:p441-450
[19]Gwang-Heon Kim,Seog-Joo Kang,etc.Analysis of the Commutation Torque Ripple for BLDCM fed by HCRPWM-VSI,Applied Power Electronics Conference and Exposition,1992
[20]Chang-hee Won,Joong-Ho Song,Lck Choy Commutation Torque Ripple Reduction in Brushless DC Motor Drives Using a Single DC Current Sensor.Power Electronics,IEEE Transactions on,Volume:19,Issue2,March 2004:p312-319
[21]Changliang Xia,Junhua Liu,Wei Yu and Zhiqiang Li Variable Structure Control of BLDCM Based on Extended State Observer,Proceedings of the IEEE International Conference on Mechatronics & Aotomation,Niagara Falls,Canada,July 2005
[22]Fakham Hicham,Djemai Mohamed,Reama Abdellatif and Blazevic Pierre,Sliding Mode Observer for Position and Speed Estimations in Brushless DC Moter (BLDCM),2004 IEEE International Conference on Industrial Technology(KIT)
[23]Byoung-Kuk Lee,Advanced Low Cost and High Performance Brushless DC Motor Drives For Mass Production.Taxes A&M University,a dissertation submitted for the Degree of Doctor of Philosophy.Dec.2001
[24]姜建奎,刘建成,高速工业平缝机转速测量方法研究[J],现代电子技术,2009,5
[25]陈丹江,高速工业平缝机只能控制器的研制,浙江大学硕士学位论文,2005
[26]周春蛟,全自动工业平缝机控制系统的研制,哈尔滨工业大学硕士学位论文,2006年
[27]楼彦华,孙云云,任军军,郭吉丰,一种低成本直驱工业平缝机控制系统[J],纺织学报2009,10(10)
[28]数码管驱动及键盘控制芯片CH451中文手册
[29]X5043 Datasheet,CPU Supervisor with 4K SPI EEPROM,XICOR公司
[30]TMS320F2801x DSP Data Manual,Texas Instruments公司
[31]胡庆波,郑继文,吕征宇,混合动力中无刷直流电机分解制动PWM调制方式的研究[J],中国电机工程学报,2007,(30)
[32]齐蓉,林辉,陈明,无刷直流电机换相转矩脉动分析与抑制[J],电机与控制学报,2006,3
[33]杨进,杨向宇,一种减小无刷直流电机纹波转矩的新方法[J],微电机,2005,1
[34]章肖明,傅蓉浣,伺服控制系统在缝纫机中的应用[J],机电工程,2006,