动感平台控制系统的研究
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摘要
动感电影是将机械、计算机控制、电影、音响等技术综合在一起,通过动感平台模拟影片中出现的各种动感场景,在观赏动感影片时给观众身临其境的效果。怎样实现平台系统与现场相当的响应速度和效果,成为该控制系统的难点。因此,本文采用一种高性能数字式交流伺服技术作为控制手段。
文中首先分析了动感平台系统的组成和结构,介绍了动感平台工作原理及系统的工作过程,建立了动感平台的交流伺服系统模型。本文所设计的高性能数字式交流位置伺服系统采用四通GS系列交流伺服电机及其驱动器组成电流环和速度环,并在减速器负载端采用光电编码器将位置反馈信号送入数字控制器构成的位置控制器中,形成交流伺服系统的位置环。
本文在对交流伺服系统数学模型理论分析的基础上,得到永磁同步电动机的数学模型和系统电流环的数学模型,最后得出系统速度环和位置环的数学模型,这样分析出的数学模型虽然概念较为清晰,但并不能得到精确的数学模型,且推导出的数学模型参数很难得到。因此,本文提出了一种采用实验分析法辨识交流伺服系统数学模型的方法。在讨论了常规PID控制算法和模糊控制算法之后,本文又结合两种算法的优势设计了模糊自适应PID控制算法。然后利用MATLAB对系统进行了仿真研究,确定了模糊控制算法的控制效果。最后通过系统硬件和软件设计,实现了交流伺服系统的模糊控制。
仿真和实验结果表明,本文系统采用模糊自适应PID控制后,系统快速性和稳定性均有一定程度的提高,对系统参数变化适应能力强。
The moving-felt film integrates machine, computer control, movie, acoustics technology and presents the spectator enjoying the moving-felt film the impression personally on the scene, the moving-felt platform simulating all kinds of moving scenes according to the moving film. How to realize response speed and result of the system of the platform equal to scene, become the difficult point of this control system. So this paper adopted a high performance AC servo technology as the control means.
This paper analyzes composition and structure of the moving-felt platform, introduces operation principle and the working course of the moving-felt platform and system, have set up the AC servo system model of the moving-felt platform. The high performance digital AC position servo system discussed in this paper includes three closed loops. The current loop and velocity loop are based on Stone GS motor and its driver. The position loop is based on digital controller that receives the position feedback signal from the load.
In the base of theoretically analysis this paper, it has the mathematical model of the PMSM and the current loop and the velocity loop and the position loop. Though the concept of the mathematical model analyzed is comparatively clear, it can not receive the accurate mathematical model, and the mathematical model parameter is very difficult. So this paper presents a new method - Experimentally Analysis Method to analyze mathematic model of the AC servo system. Then by relating to the conventional PID control theory and Fuzzy control theory, Fuzzy Self-adaptive PID algorithm is proposed in position controller to improve further the performance of the system. Then simulation to the system by MATLAB is carried and the control effect of the fuzzy control arithmetic is assured. Through the design of the hardware and the software of the system, it realized the fuzzy control of the AC servo system.
By means of simulation and experiment comparison of the two control strategies, the paper expounded that properties of the system adopted Fuzzy self-adaptive PID control are improved and the adaptability of parameter change is enhanced.
文中首先分析了动感平台系统的组成和结构,介绍了动感平台工作原理及系统的工作过程,建立了动感平台的交流伺服系统模型。本文所设计的高性能数字式交流位置伺服系统采用四通GS系列交流伺服电机及其驱动器组成电流环和速度环,并在减速器负载端采用光电编码器将位置反馈信号送入数字控制器构成的位置控制器中,形成交流伺服系统的位置环。
本文在对交流伺服系统数学模型理论分析的基础上,得到永磁同步电动机的数学模型和系统电流环的数学模型,最后得出系统速度环和位置环的数学模型,这样分析出的数学模型虽然概念较为清晰,但并不能得到精确的数学模型,且推导出的数学模型参数很难得到。因此,本文提出了一种采用实验分析法辨识交流伺服系统数学模型的方法。在讨论了常规PID控制算法和模糊控制算法之后,本文又结合两种算法的优势设计了模糊自适应PID控制算法。然后利用MATLAB对系统进行了仿真研究,确定了模糊控制算法的控制效果。最后通过系统硬件和软件设计,实现了交流伺服系统的模糊控制。
仿真和实验结果表明,本文系统采用模糊自适应PID控制后,系统快速性和稳定性均有一定程度的提高,对系统参数变化适应能力强。
The moving-felt film integrates machine, computer control, movie, acoustics technology and presents the spectator enjoying the moving-felt film the impression personally on the scene, the moving-felt platform simulating all kinds of moving scenes according to the moving film. How to realize response speed and result of the system of the platform equal to scene, become the difficult point of this control system. So this paper adopted a high performance AC servo technology as the control means.
This paper analyzes composition and structure of the moving-felt platform, introduces operation principle and the working course of the moving-felt platform and system, have set up the AC servo system model of the moving-felt platform. The high performance digital AC position servo system discussed in this paper includes three closed loops. The current loop and velocity loop are based on Stone GS motor and its driver. The position loop is based on digital controller that receives the position feedback signal from the load.
In the base of theoretically analysis this paper, it has the mathematical model of the PMSM and the current loop and the velocity loop and the position loop. Though the concept of the mathematical model analyzed is comparatively clear, it can not receive the accurate mathematical model, and the mathematical model parameter is very difficult. So this paper presents a new method - Experimentally Analysis Method to analyze mathematic model of the AC servo system. Then by relating to the conventional PID control theory and Fuzzy control theory, Fuzzy Self-adaptive PID algorithm is proposed in position controller to improve further the performance of the system. Then simulation to the system by MATLAB is carried and the control effect of the fuzzy control arithmetic is assured. Through the design of the hardware and the software of the system, it realized the fuzzy control of the AC servo system.
By means of simulation and experiment comparison of the two control strategies, the paper expounded that properties of the system adopted Fuzzy self-adaptive PID control are improved and the adaptability of parameter change is enhanced.
引文
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[19] 田淑杭,姜丽娟.一种参数自整定模糊PID控制器的研究[J]:电气传动自动化. 2003,25(6):28～30
[20] 刘曙光,魏俊民,竺志超编著.模糊控制技术[M].北京:中国纺织出版社,2001
[21] 张化光等著.模糊自适应控制理论及其应用[M].北京:北京航空航天大学出版社, 2002
[22] 何平,王鸿绪编著.模糊控制器的设计及应用[M].北京:科学出版社,1997
[23]李士勇,模糊控制、神经控制和智能控制论[M].哈尔滨:哈尔滨工业大学出版社,1998
[24] 吴振顺,姚建均,岳东海.模糊自整定 PID 控制器的设计及其应用[J]:哈尔滨工业大学学报. 2004,36(11):1578～1580
[25] 谭冠政,陈勇旗.基于模糊 PID 控制的人工腿位置伺服系统设计与仿真[J]:计算技术与自动化.2001,20(3):53～58
[26] Sugeno M, Takagi T.Multi-dimensional fuzzy reasoning[J]:Fuzzy Sets and Systems, 1983, 9:313～325
[27] Pedrycz W. An Identification of Fuzzy Relational Systems[J]: Fuzzy Set and Systems, 1984, 13 (2): 153～167
[28] Jin Y C, Zhu J, et. al.Adaptive Fuzzy Modeling and Identification with Its Application[J]: International Journal of Systems Science,1995, 26(2):197～212
[29] Astrom K J, Hagglund T. PID Controllers: Theory, Design and Tuning[M].2nd ed. New York: Instrument Society of America, 1995
[30] Sugeno M, et al. Fuzzy Control of Model Car[J]: Fuzzy Sets and Systems, 1985,(16): 103～113
[31] King P J, Mamdani E H. The Application of Fuzzy Control Systems to Industrial Processes[J]: Automatic,1997,(3):235～242
[32] Tanaka K, Sugeno M. Stability Analysis and Design of Fuzzy Control Systems[J]:Fuzzy Sets and Systems,1992,45:135～156
[33] 诸静.模糊控制原理与应用[M].北京:机械工业出版社,2005
[34] 巍巍.MATLAB控制工程工具箱技术手册[M].北京:国防工业出版社,2004
[35] 金钰,胡祜德,李向春.伺服系统设计指导[M].北京:北京理工大学出版社,2002
[36] 刘岩,李凤荣,王金海等.高速可逆位置计数器的研究与FPGA实现[J]:天津工业大学学报.2003,22(2):70～73
[37] 俞竹青,潘全胜.一种光电编码器用可编程计数电路的设计[J]:传感器技术. 2002,21(10):22～24
[38] 孙涵芳.Intel16位单片机[M].北京:北京航空航天大学出版社,1995
[39] 刘复华编著.8×C196KX单片机及其应用系统设计[M].北京:清华大学出版社, 2002
[40] 程军.Intel 80C196 单片机应用实践与 C 语言开发[M].北京:北京航空航天大学出版社,2001
[2] 万波.虚拟现实关键技术分析及其应用综述[J]:高等函授学报(自然科学版).2000(4):52～54
[3] 秦忆等编著.现代交流伺服系统[M].长沙:华中理工大学出版社,1995
[4] 王群京著.稀土钕铁硼永磁同步电动机的设计理论及计算机仿真[M].合肥:中国科学技术大学出版社, 1997
[5] 郭庆鼎,王成元.交流伺服系统[M].北京:机械工业出版社,1998
[6] 舒志兵等著.交流伺服运动控制系统[M].北京:清华大学出版社,2006
[7] 冯国南.现代伺服系统的分析与设计[M].北京:机械工业出版社,1990
[8] 葛锁良,刘文慰.基于模糊控制的交流伺服系统的设计[J]:东南大学学报(自然科学版). 2003(33):154～157
[9] 胡寿松.自动控制原理[M].北京:科学出版社,2001
[10] 飞思科技产品研发中心.MATLAB7辅助控制系统设计与仿真[M].北京:电子工业出版社,2005
[11] 陶永华.新型 PID 控制及其应用[M].第二版.北京:机械工业出版社,2005
[12] 易继锴,侯媛彬.智能控制技术[M].北京:北京工业大学出版社,1999
[13] 何克忠.计算机控制系统[M].北京:清华大学出版社,1995
[14] 王锦标,方崇智.过程计算机控制[M].北京:清华大学出版社, 1992
[15] 薛定宇.控制系统计算机辅助设计[M].北京:清华大学出版社, 1996
[16] 曹晖,李军.PID参数自整定专家系统[J]:化工自动化与仪表.1996(6):5～9
[17] 符永法.几种新型PID调节器参数的自整定法[J]:化工自动化及仪表.1997,24(1):25～29
[18] 吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用[J]:哈尔滨工业大学学报. 2004,36(11):1578～1580
[19] 田淑杭,姜丽娟.一种参数自整定模糊PID控制器的研究[J]:电气传动自动化. 2003,25(6):28～30
[20] 刘曙光,魏俊民,竺志超编著.模糊控制技术[M].北京:中国纺织出版社,2001
[21] 张化光等著.模糊自适应控制理论及其应用[M].北京:北京航空航天大学出版社, 2002
[22] 何平,王鸿绪编著.模糊控制器的设计及应用[M].北京:科学出版社,1997
[23]李士勇,模糊控制、神经控制和智能控制论[M].哈尔滨:哈尔滨工业大学出版社,1998
[24] 吴振顺,姚建均,岳东海.模糊自整定 PID 控制器的设计及其应用[J]:哈尔滨工业大学学报. 2004,36(11):1578～1580
[25] 谭冠政,陈勇旗.基于模糊 PID 控制的人工腿位置伺服系统设计与仿真[J]:计算技术与自动化.2001,20(3):53～58
[26] Sugeno M, Takagi T.Multi-dimensional fuzzy reasoning[J]:Fuzzy Sets and Systems, 1983, 9:313～325
[27] Pedrycz W. An Identification of Fuzzy Relational Systems[J]: Fuzzy Set and Systems, 1984, 13 (2): 153～167
[28] Jin Y C, Zhu J, et. al.Adaptive Fuzzy Modeling and Identification with Its Application[J]: International Journal of Systems Science,1995, 26(2):197～212
[29] Astrom K J, Hagglund T. PID Controllers: Theory, Design and Tuning[M].2nd ed. New York: Instrument Society of America, 1995
[30] Sugeno M, et al. Fuzzy Control of Model Car[J]: Fuzzy Sets and Systems, 1985,(16): 103～113
[31] King P J, Mamdani E H. The Application of Fuzzy Control Systems to Industrial Processes[J]: Automatic,1997,(3):235～242
[32] Tanaka K, Sugeno M. Stability Analysis and Design of Fuzzy Control Systems[J]:Fuzzy Sets and Systems,1992,45:135～156
[33] 诸静.模糊控制原理与应用[M].北京:机械工业出版社,2005
[34] 巍巍.MATLAB控制工程工具箱技术手册[M].北京:国防工业出版社,2004
[35] 金钰,胡祜德,李向春.伺服系统设计指导[M].北京:北京理工大学出版社,2002
[36] 刘岩,李凤荣,王金海等.高速可逆位置计数器的研究与FPGA实现[J]:天津工业大学学报.2003,22(2):70～73
[37] 俞竹青,潘全胜.一种光电编码器用可编程计数电路的设计[J]:传感器技术. 2002,21(10):22～24
[38] 孙涵芳.Intel16位单片机[M].北京:北京航空航天大学出版社,1995
[39] 刘复华编著.8×C196KX单片机及其应用系统设计[M].北京:清华大学出版社, 2002
[40] 程军.Intel 80C196 单片机应用实践与 C 语言开发[M].北京:北京航空航天大学出版社,2001