数控机床进给伺服系统PID参数自整定仿真研究
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摘要
数控机床是发展高新技术产业和尖端工业的基础装备,进给伺服系统是数控机床的重要组成部分,其驱动器控制参数匹配的好坏,关系到数控机床的性能。因此,如何快速有效的进行参数匹配,一直是人们研究的热点。
本文以“数控机床进给伺服系统PID(Proportion-Integral-Differential)参数自整定仿真研究”为主题,研究了永磁交流同步电机(Permanent Magnet Synchronous Motor,简称PMSM)的数学模型、矢量控制和磁场定向的基本原理,建立了数控机床进给伺服系统的数学模型和仿真模型;为了解决PID控制器参数自整定问题,本文深入研究了模糊和神经网络这两种智能控制理论,建立了模糊自整定和反向传播(Back-Propagation,简称BP)网络自整定PID控制器,并将其应用于数控机床进给伺服系统的控制仿真,仿真结果表明这两种控制器都能使系统具有很好的性能、很强的鲁棒性和抗干扰性能;由于模糊和神经网络控制器建立的理论不够完善,并且运算复杂、实现困难,本文继而研究了坐标轮换趋优理论,并结合性能指标函数误差绝对值与时间的乘积的积分(Integral of the Product of Error Absolute Value and Time,简称ITAE),设计了坐标轮换法自整定PID控制器,并将其成功地应用于数控机床进给伺服系统的控制仿真,实现了进给伺服系统PID控制器参数的自动整定。
仿真结果表明,应用坐标轮换法优化PID控制器的参数,其初始PID参数值可以任意设定,优化后的PID参数均能使系统具有良好的性能。此方法具有很强的理论和应用价值。
NC machine tool is an enabling foundational facility for developing high technique and new industries. Feeding servo system is one of the most important parts of NC machine tool. The performance of the tool is related to the match of the parameters of controller used in the servo system. So, how to match the parameters rapidly and effectively is a hotspot that is studied all the time.
Regarding the topic "Research and Simulation about Parameter Self-tuning Proportion-Integral-Differential(PID) Controller in Feeding Servo System of NC machine Tool" as a main subject, the mathematical model of permanent magnet synchronous motor(PMSM) and the basic principles of vector control and field-oriented were studied, and then the mathematical model and simulation model of feeding servo system of NC machine tool were set up; In order to solve the problem about the parameters self-tuning of the PID controller, two intelligent control theories, fuzzy control and neural network control, were studied in great depth, then fuzzy-PID controller and Back-Propagation (BP) neural network(NN) PID controller were set up in matlab and used for controlling the feeding servo system of NC machine tool, the simulating results indicated that the two controllers made the system strong in robustness and anti-jamming performance; Nevertheless, the theories on which fuzzy controller and neural network controller are built aren’t perfect enough, their arithmetic are very complex and difficult to achieve, then the optimization of D.A.desopo method was studied in the last of the thesis. With the performance index function, which is the integral of the product of error absolute value and time (ITAE), PID self-tuning controller was designed based on D.A.desopo Method and used for controlling the feeding servo system model of NC machine tool successfully, and realized the parameters of PID controller self-tuning in feeding servo system.
The results of simulation indicate that the PID parameters which were optimized by way of D.A.desopo method always make the system have good performance, caring nothing about the initial PID parameters, and the method is of great value in theory and application.
本文以“数控机床进给伺服系统PID(Proportion-Integral-Differential)参数自整定仿真研究”为主题,研究了永磁交流同步电机(Permanent Magnet Synchronous Motor,简称PMSM)的数学模型、矢量控制和磁场定向的基本原理,建立了数控机床进给伺服系统的数学模型和仿真模型;为了解决PID控制器参数自整定问题,本文深入研究了模糊和神经网络这两种智能控制理论,建立了模糊自整定和反向传播(Back-Propagation,简称BP)网络自整定PID控制器,并将其应用于数控机床进给伺服系统的控制仿真,仿真结果表明这两种控制器都能使系统具有很好的性能、很强的鲁棒性和抗干扰性能;由于模糊和神经网络控制器建立的理论不够完善,并且运算复杂、实现困难,本文继而研究了坐标轮换趋优理论,并结合性能指标函数误差绝对值与时间的乘积的积分(Integral of the Product of Error Absolute Value and Time,简称ITAE),设计了坐标轮换法自整定PID控制器,并将其成功地应用于数控机床进给伺服系统的控制仿真,实现了进给伺服系统PID控制器参数的自动整定。
仿真结果表明,应用坐标轮换法优化PID控制器的参数,其初始PID参数值可以任意设定,优化后的PID参数均能使系统具有良好的性能。此方法具有很强的理论和应用价值。
NC machine tool is an enabling foundational facility for developing high technique and new industries. Feeding servo system is one of the most important parts of NC machine tool. The performance of the tool is related to the match of the parameters of controller used in the servo system. So, how to match the parameters rapidly and effectively is a hotspot that is studied all the time.
Regarding the topic "Research and Simulation about Parameter Self-tuning Proportion-Integral-Differential(PID) Controller in Feeding Servo System of NC machine Tool" as a main subject, the mathematical model of permanent magnet synchronous motor(PMSM) and the basic principles of vector control and field-oriented were studied, and then the mathematical model and simulation model of feeding servo system of NC machine tool were set up; In order to solve the problem about the parameters self-tuning of the PID controller, two intelligent control theories, fuzzy control and neural network control, were studied in great depth, then fuzzy-PID controller and Back-Propagation (BP) neural network(NN) PID controller were set up in matlab and used for controlling the feeding servo system of NC machine tool, the simulating results indicated that the two controllers made the system strong in robustness and anti-jamming performance; Nevertheless, the theories on which fuzzy controller and neural network controller are built aren’t perfect enough, their arithmetic are very complex and difficult to achieve, then the optimization of D.A.desopo method was studied in the last of the thesis. With the performance index function, which is the integral of the product of error absolute value and time (ITAE), PID self-tuning controller was designed based on D.A.desopo Method and used for controlling the feeding servo system model of NC machine tool successfully, and realized the parameters of PID controller self-tuning in feeding servo system.
The results of simulation indicate that the PID parameters which were optimized by way of D.A.desopo method always make the system have good performance, caring nothing about the initial PID parameters, and the method is of great value in theory and application.
引文
[1]赵玉刚,宋现春主编.数控技术北京:机械工业出版社,2003.6
[2]刘胜,彭侠夫等.现代伺服系统设计.哈尔滨:哈尔滨工程大学出版社,2001.7
[3]郭庆鼎,王成元.交流伺服系统.北京:机械工业出版社,1994
[4]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机.北京:机械工业出版社,1994
[5]陈伯时主编.电力拖动自动控制系统(第二版).北京:机械工业出版社,1994
[6] M.Depenbrock. Direct Self-Control (DSC) of Inverter-Fed Induction Machines. IEEE Trans.Power Elec,Vol.3,No.4:pp420-429,1988
[7]李夙.异步电动机直接转矩控制.北京:机械工业出版社,1994
[8]王丰尧.滑模变结构控制.北京:机械工业出版社,1998
[9] Bimal K.Bose.Expert System, Fuzzy Logic and Neural Network Applications in Power Electronics and Motion Control.IEEE Proc., Vol.82, No.8: pp1303-1323, 1994
[10] K.J.Astrom,J.J.Anton,K.E.Arzen.Expert Control.Automatic,Vol.22, No.3: pp277-286, May 1986
[11] Yasuhiko Dote,Tamotsu Saitoh . Stability Analysis of Variable structured PI Controller by Fuzzy Logic for Servo System.IECON’91:pp363-365
[12] F.J.Lin,S.L.Chiu.Adaptive fuzzy sliding-mode control for PM synchronous servo motor drive.IEEE Proc.Control Theory Appl,Vol.145,No.1,Jan 1998
[13] Thomas M.Jahns . Motion Control with Permanent-Magnet AC Machines. Proceedings of the IEEE,Vol.82,No.8,August 1994
[14] T.H.Liu,C.P.Cheng . Controller design for a sensorless Permanent-Magnet synchronous drive system.IEEE Proc.,Vol.140,No.6,1993
[15] James A.Haylock,Barrie C.Mecrow.Enhanced Current Control of High-Speed PM Machine Drives Through the Use of Flux Controllers.IEEE Trans on Ind Application,Vol.35,No.5,Sep/Oct 1999
[16] Pragasen Pillay,Ramu Krishnan.Modeling, Simulation and Analysis of Permanent Magnet Motor Drives, Part ?: The Permanent Magnet Synchronous Motor Drive. IEEE Trans on Ind Application,Vol.25,No.2,March/April,1999
[17] Heinz Eilli Van Der Broeck,Hans-Chriatoph Skudelny.Analysis and Realization of a Pulse Width Modulator Based on Voltage Space Vectors.IEEE Trans on Ind Application,Vol.24,No.1,Jan/Feb 1988
[18] Chris French,Paul Acarnley.Direct Torque Control of Permanent Magnet Drives. IEEE Trans on IA,Vol.32,No.5,Sep/Oct 1996
[19] Se-Kyo Chung,yun-soo Kim,Chang-Gyun Kim et al.A New Instantaneous Torque Control of PM Synchronous Motor for High-Performance Direct-Drive Application. IEEE Trans.Power Elec., Vol.13,No.3:pp388-400,1998
[20] Muhammed Fazlur Rahman,L.Zhong,Khiang Wee Lim . A Direct Torque Controller Interior Permanent Magnet Synchronous Motor Drive Incorporating Field Weakening.IEEE Trans on Ind Application,Vol.34,No.6,1998
[21] Zhong L, Eahnan M.F, Hu W. Yet al.Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives.IEEE Trans on PE,12(3):p528-535, 1997
[22] S.Morimoto,Y.Takeda.Current Phase Control Methods for Permanent Magnet Synchronous Motors.IEEE Trans on PE,Vol.5,No.2,1990
[23]秦忆编著.现代交流伺服系统.武汉:华中理工大学出版社,1995.1
[24]陶永华.新型PID控制及其应用.北京:机械工业出版社,2005.1
[25]迂远.富士MICREX的PID控制参数自动整定.自动化与仪器仪表,1990(1):49～54
[26]喻央.东芝TOSDIC 2自由度PID自整定调节器.自动化与仪器仪表,1989(2):40～45
[27]刘伯春.智能自整定调节器的进展.化工自动化与仪表,1993(1):46～50
[28]刘伯春.智能控制仪表中的PID调节器参数自整定.自动化仪表,1990(7):8～13
[29]迂远.新型YEWSERIES-80专家自整定调节器.自动化与仪器仪表,1989(1):49～55
[30]陈坚.交流电机数学模型及调速系统.北京:国防工业出版社,1989.3
[31]舒志兵等.交流伺服运动控制系统.北京:清华大学出版社,2006.3
[32]廖效果.数控技术.武汉:湖北科学技术出版社,2000.5
[33]赵恩旭.高性能全数字永磁交流伺服系统研究:硕士学位论文.天津:天津大学,2003.1
[34]张志涌.精通MATLAB6.5版.北京:北京航空航天大学出版社,2005
[35]邵群涛,赵伟军.基于SIMULINK的数控机床进给伺服系统动态性能仿真.机床与液压,2003(6)
[36] Zadeh L A.Fuzzy sets.Information and Control,8:338～353,1965
[37]李士勇编著.模糊控制?神经控制与智能控制.哈尔滨:哈尔滨工业大学出版社,1996
[38]李士勇等.模糊控制与智能控制理与应用.哈尔滨:哈尔滨工业大学出版社,1990
[39]刘金琨编著.智能控制.北京:电子工业出版社,2005.5
[40]诸静等.模糊控制原理与应用.机械工业出版社,1995.7
[41]飞思科技产品研发中心编著.MATLAB7辅助控制系统设计与仿真.北京:电子工业出版社,2005.3
[42]张国良,曾静等编著.模糊控制及其MATLAB应用.西安:西安交通大学出版社,2002.11
[43]冯冬青,谢宋和编著.模糊智能控制.北京:化学工业出版社,1998.9
[44]廉小青编著.模糊控制技术.北京:中国电力出版社,2003.8
[45]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003.1
[46]胡包钢,应浩.模糊PID控制技术研究发展回顾及其面临的若干重要问题.自动化学报,27(4):567～583, 2001
[47]飞思科技产品研发中心编著.MATLAB6.5辅助神经网络分析与设计.北京:电子工业出版社,2003.1
[48]刘金琨.先进PID控制MATLAB仿真(第二版).北京:电子工业出版社,2004.9
[49]高健编著.机械优化设计基础.北京:科学出版社,2000.1
[50]黄道平编著.MATLAB与控制系统的数字仿真及CAD.北京:化学工业出版社,2004.10
[2]刘胜,彭侠夫等.现代伺服系统设计.哈尔滨:哈尔滨工程大学出版社,2001.7
[3]郭庆鼎,王成元.交流伺服系统.北京:机械工业出版社,1994
[4]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机.北京:机械工业出版社,1994
[5]陈伯时主编.电力拖动自动控制系统(第二版).北京:机械工业出版社,1994
[6] M.Depenbrock. Direct Self-Control (DSC) of Inverter-Fed Induction Machines. IEEE Trans.Power Elec,Vol.3,No.4:pp420-429,1988
[7]李夙.异步电动机直接转矩控制.北京:机械工业出版社,1994
[8]王丰尧.滑模变结构控制.北京:机械工业出版社,1998
[9] Bimal K.Bose.Expert System, Fuzzy Logic and Neural Network Applications in Power Electronics and Motion Control.IEEE Proc., Vol.82, No.8: pp1303-1323, 1994
[10] K.J.Astrom,J.J.Anton,K.E.Arzen.Expert Control.Automatic,Vol.22, No.3: pp277-286, May 1986
[11] Yasuhiko Dote,Tamotsu Saitoh . Stability Analysis of Variable structured PI Controller by Fuzzy Logic for Servo System.IECON’91:pp363-365
[12] F.J.Lin,S.L.Chiu.Adaptive fuzzy sliding-mode control for PM synchronous servo motor drive.IEEE Proc.Control Theory Appl,Vol.145,No.1,Jan 1998
[13] Thomas M.Jahns . Motion Control with Permanent-Magnet AC Machines. Proceedings of the IEEE,Vol.82,No.8,August 1994
[14] T.H.Liu,C.P.Cheng . Controller design for a sensorless Permanent-Magnet synchronous drive system.IEEE Proc.,Vol.140,No.6,1993
[15] James A.Haylock,Barrie C.Mecrow.Enhanced Current Control of High-Speed PM Machine Drives Through the Use of Flux Controllers.IEEE Trans on Ind Application,Vol.35,No.5,Sep/Oct 1999
[16] Pragasen Pillay,Ramu Krishnan.Modeling, Simulation and Analysis of Permanent Magnet Motor Drives, Part ?: The Permanent Magnet Synchronous Motor Drive. IEEE Trans on Ind Application,Vol.25,No.2,March/April,1999
[17] Heinz Eilli Van Der Broeck,Hans-Chriatoph Skudelny.Analysis and Realization of a Pulse Width Modulator Based on Voltage Space Vectors.IEEE Trans on Ind Application,Vol.24,No.1,Jan/Feb 1988
[18] Chris French,Paul Acarnley.Direct Torque Control of Permanent Magnet Drives. IEEE Trans on IA,Vol.32,No.5,Sep/Oct 1996
[19] Se-Kyo Chung,yun-soo Kim,Chang-Gyun Kim et al.A New Instantaneous Torque Control of PM Synchronous Motor for High-Performance Direct-Drive Application. IEEE Trans.Power Elec., Vol.13,No.3:pp388-400,1998
[20] Muhammed Fazlur Rahman,L.Zhong,Khiang Wee Lim . A Direct Torque Controller Interior Permanent Magnet Synchronous Motor Drive Incorporating Field Weakening.IEEE Trans on Ind Application,Vol.34,No.6,1998
[21] Zhong L, Eahnan M.F, Hu W. Yet al.Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives.IEEE Trans on PE,12(3):p528-535, 1997
[22] S.Morimoto,Y.Takeda.Current Phase Control Methods for Permanent Magnet Synchronous Motors.IEEE Trans on PE,Vol.5,No.2,1990
[23]秦忆编著.现代交流伺服系统.武汉:华中理工大学出版社,1995.1
[24]陶永华.新型PID控制及其应用.北京:机械工业出版社,2005.1
[25]迂远.富士MICREX的PID控制参数自动整定.自动化与仪器仪表,1990(1):49～54
[26]喻央.东芝TOSDIC 2自由度PID自整定调节器.自动化与仪器仪表,1989(2):40～45
[27]刘伯春.智能自整定调节器的进展.化工自动化与仪表,1993(1):46～50
[28]刘伯春.智能控制仪表中的PID调节器参数自整定.自动化仪表,1990(7):8～13
[29]迂远.新型YEWSERIES-80专家自整定调节器.自动化与仪器仪表,1989(1):49～55
[30]陈坚.交流电机数学模型及调速系统.北京:国防工业出版社,1989.3
[31]舒志兵等.交流伺服运动控制系统.北京:清华大学出版社,2006.3
[32]廖效果.数控技术.武汉:湖北科学技术出版社,2000.5
[33]赵恩旭.高性能全数字永磁交流伺服系统研究:硕士学位论文.天津:天津大学,2003.1
[34]张志涌.精通MATLAB6.5版.北京:北京航空航天大学出版社,2005
[35]邵群涛,赵伟军.基于SIMULINK的数控机床进给伺服系统动态性能仿真.机床与液压,2003(6)
[36] Zadeh L A.Fuzzy sets.Information and Control,8:338～353,1965
[37]李士勇编著.模糊控制?神经控制与智能控制.哈尔滨:哈尔滨工业大学出版社,1996
[38]李士勇等.模糊控制与智能控制理与应用.哈尔滨:哈尔滨工业大学出版社,1990
[39]刘金琨编著.智能控制.北京:电子工业出版社,2005.5
[40]诸静等.模糊控制原理与应用.机械工业出版社,1995.7
[41]飞思科技产品研发中心编著.MATLAB7辅助控制系统设计与仿真.北京:电子工业出版社,2005.3
[42]张国良,曾静等编著.模糊控制及其MATLAB应用.西安:西安交通大学出版社,2002.11
[43]冯冬青,谢宋和编著.模糊智能控制.北京:化学工业出版社,1998.9
[44]廉小青编著.模糊控制技术.北京:中国电力出版社,2003.8
[45]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003.1
[46]胡包钢,应浩.模糊PID控制技术研究发展回顾及其面临的若干重要问题.自动化学报,27(4):567～583, 2001
[47]飞思科技产品研发中心编著.MATLAB6.5辅助神经网络分析与设计.北京:电子工业出版社,2003.1
[48]刘金琨.先进PID控制MATLAB仿真(第二版).北京:电子工业出版社,2004.9
[49]高健编著.机械优化设计基础.北京:科学出版社,2000.1
[50]黄道平编著.MATLAB与控制系统的数字仿真及CAD.北京:化学工业出版社,2004.10