一种低速大惯量伺服系统的跟踪控制研究及实现
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摘要
具有低速、大惯量特征的机电伺服系统,普遍存在于国民经济的各个领域,例如天线、雷达等航天航空航海领域,机床进给系统、电动执行机构以及计测装置等。随着科学技术不断发展,需要系统运行更稳定,响应更快,跟踪精度更高,抗干扰性更强等。要满足这些要求,其机电控制系统必须具有合理的控制方法,具有性价比更强的硬件、软件系统。
本文操作与研究了一种采用交流伺服系统作为具有低速大惯量特征的机电设备的控制系统设计,目的是将工业控制领域中的交流伺服系统技术应用到机电设备中,来提高产品控制精度和响应速度、降低系统能量损耗、提高部件使用寿命、降低系统维护成本等。具体的研究对象是伽玛刀源体、准直体控制系统,采用了微型计算机和多功能控制器为控制平台;采用伺服驱动器控制和驱动设备的各种动作;采用伺服电机作为执行机构;软件采用motion planner软件平台编程。通过对伺服系统位置环、速度环、电流环三闭环的控制,利用数字系统易于调节、灵活的特点,采用全数字式直接驱动方案实现对源体、准直体位置、速度的精确控制。主要研究内容如下:
(1)设计一种驱动模式:以交流伺服电机代替同步电机,经过蜗杆蜗轮减速机构直接驱动源体与准直体,建立了电机主要选型参数的计算方法。
(2)分析源体准直体的控制要求,构建控制系统的总体结构,并详细介绍系统硬件构成。
(3)建立运动控制系统各环节的数学模型,并以此建立基于Simulink的仿真模型,根据试验参数进行了仿真试验。
(4)根据控制要求和监控任务,开发控制系统软件,包括主程序、各功能子程序、检测程序等。
经过性能测试,该系统实现了设计目标,具有控制精度高、响应速度快、能耗少、性能稳定等优点。预期在市场上具有一定的技术先进性和产品竞争优势。
The electrical and mechanical servo system with low-speed and high-inertia exists in various fields in the national economy, such as antennas, radar, and other maritime areas of aerospace, timing and feed systems, electrical implementing agencies, as well as measurement devices. With the continuous development of science and technology, this system has put forward higher requirements; operating system needs a more stable and faster response, higher accuracy, more of such interference. To meet these requirements, its electrical and mechanical control system must have reasonable control methods, a more cost-effective hardware and software systems.
This paper introduced a kind of design that uses the alternating servo system as the ultra-low velocity and high-inertia servo system. The objective of the paper is to apply the alternating servo system technology in machine control system, so as to improve the precision and respond speed, avoid high energy loss, increase service life of device, and decrease cost of system requirement. The paper study radiator device of gamma knife sync and tracking control; the control system adopts the microcomputer and mufti-function controller conduct and actions control terrace; adopt the servo control and driver various action of the device; adopt the servo motor conduct; adopt motion planner software terrace. Through the position loop servo system, the velocity loop, current loop three closed-loop control, easy to use digital system regulation, flexible features, using all-digital direct drive to achieve the precision control of the radiator device of gamma knife of position, velocity. The main research content of this paper is as following:
(1)A structure of drive system is proposed, the design is that instead of synchronous motor, permanent magnet synchronous motor (PMSM) is adapted to drive the gamma knife control system through the worm wheel. The feasibility of this drive structure is analyzed; a method of calculating motor power and torque is established.
(2)Proceeding with control demand of the gamma knife, the whole structure of control system is established; all system hardware and function subsystems are all presented in details.
(3)The mathematic model of control system is established, further more, with the mathematic model, the simulation model based on Simulink software is set up and the simulation on experiments are carried out according to the parameters of the system.
(4)According to the demand of control and monitoring, the control system software is developed, including main program and function subprogram.
It has fulfilled the designed requirement by the feature test. This instrument possesses high precision, fast respond, low power cost and so on. It is the modern technology, and it will have a good competitiveness on the market.
本文操作与研究了一种采用交流伺服系统作为具有低速大惯量特征的机电设备的控制系统设计,目的是将工业控制领域中的交流伺服系统技术应用到机电设备中,来提高产品控制精度和响应速度、降低系统能量损耗、提高部件使用寿命、降低系统维护成本等。具体的研究对象是伽玛刀源体、准直体控制系统,采用了微型计算机和多功能控制器为控制平台;采用伺服驱动器控制和驱动设备的各种动作;采用伺服电机作为执行机构;软件采用motion planner软件平台编程。通过对伺服系统位置环、速度环、电流环三闭环的控制,利用数字系统易于调节、灵活的特点,采用全数字式直接驱动方案实现对源体、准直体位置、速度的精确控制。主要研究内容如下:
(1)设计一种驱动模式:以交流伺服电机代替同步电机,经过蜗杆蜗轮减速机构直接驱动源体与准直体,建立了电机主要选型参数的计算方法。
(2)分析源体准直体的控制要求,构建控制系统的总体结构,并详细介绍系统硬件构成。
(3)建立运动控制系统各环节的数学模型,并以此建立基于Simulink的仿真模型,根据试验参数进行了仿真试验。
(4)根据控制要求和监控任务,开发控制系统软件,包括主程序、各功能子程序、检测程序等。
经过性能测试,该系统实现了设计目标,具有控制精度高、响应速度快、能耗少、性能稳定等优点。预期在市场上具有一定的技术先进性和产品竞争优势。
The electrical and mechanical servo system with low-speed and high-inertia exists in various fields in the national economy, such as antennas, radar, and other maritime areas of aerospace, timing and feed systems, electrical implementing agencies, as well as measurement devices. With the continuous development of science and technology, this system has put forward higher requirements; operating system needs a more stable and faster response, higher accuracy, more of such interference. To meet these requirements, its electrical and mechanical control system must have reasonable control methods, a more cost-effective hardware and software systems.
This paper introduced a kind of design that uses the alternating servo system as the ultra-low velocity and high-inertia servo system. The objective of the paper is to apply the alternating servo system technology in machine control system, so as to improve the precision and respond speed, avoid high energy loss, increase service life of device, and decrease cost of system requirement. The paper study radiator device of gamma knife sync and tracking control; the control system adopts the microcomputer and mufti-function controller conduct and actions control terrace; adopt the servo control and driver various action of the device; adopt the servo motor conduct; adopt motion planner software terrace. Through the position loop servo system, the velocity loop, current loop three closed-loop control, easy to use digital system regulation, flexible features, using all-digital direct drive to achieve the precision control of the radiator device of gamma knife of position, velocity. The main research content of this paper is as following:
(1)A structure of drive system is proposed, the design is that instead of synchronous motor, permanent magnet synchronous motor (PMSM) is adapted to drive the gamma knife control system through the worm wheel. The feasibility of this drive structure is analyzed; a method of calculating motor power and torque is established.
(2)Proceeding with control demand of the gamma knife, the whole structure of control system is established; all system hardware and function subsystems are all presented in details.
(3)The mathematic model of control system is established, further more, with the mathematic model, the simulation model based on Simulink software is set up and the simulation on experiments are carried out according to the parameters of the system.
(4)According to the demand of control and monitoring, the control system software is developed, including main program and function subprogram.
It has fulfilled the designed requirement by the feature test. This instrument possesses high precision, fast respond, low power cost and so on. It is the modern technology, and it will have a good competitiveness on the market.
引文
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[3]VA NIOORLS Adaptive predictor enhanced differentiation[C]//Instum entaton and Measurement technology conference,1999,MTC/99.Proceedings of the 16th IEEE,1999,1:551-555
[4]ECONNMOUD A,MAVORD IS C B,ANTONIADIS I A,Experiment on robust vibration suppression in mechatronic systems using DR digital filters[C]//20011EEE/ASME International conference on advanced Intelligent Mechatronics Proceedings.Como,ITALY,2001,2:731-737
[5]舒志兵编.交流伺服运动控制系统[M].北京:清华大学出版社,2006.3
[6]Hongjun Jeon,Dirk Grunwald.Design of servo control systems with quadratic optimal control and observed-state feedback control for meres-based storage device.Mierosystems Technology 2005(11):1005-1012
[7]郭庆鼎,孙宜标.现代永磁电动机交流伺服系统[M].北京:中国电力出版社,2006.8
[8]郭阳宽,李庆祥,李玉和.低速高精度轴系跟踪控制系统方案设计[J].仪器仪表学报,2004年8月第25卷第4期增刊
[9]陈涛,陈娟,蒋风华.伺服系统两种低速非线性补偿方法的对比实验[J].光学精密工程,2003年2月第11卷第1期
[10]李学雷.超低速跟踪伺服系统研究[D].西北工业大学硕士学位论文,2002年3月
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[12]韩昌佩.低速大惯量高精度扫描控制系统的电流环研究[J].红外,2005,6:27-32
[13]郭刚宽,李庆祥,李玉和.低速高精度轴系跟踪控制系统方案设计[J].仪器仪表学报,2004,25(4):901-902
[14]黄效国.一种高精度大惯性液压伺服控制系统及其控制方法[J].液压与气动,2003年第8期
[15]袁利才.大惯性柔性负载对电液速度伺服系统特性影响的分析与研究[D].太原理工大学硕士学位论文,2004年5月
[16]王广雄,何朕.工业伺服系统[J].电机与控制学报,2006,10(3):329-332
[17]曾玉金.高性能交流伺服系统及其复合控制策略研究[D].浙江大学博士学位论文,2004年6月
[18]G.C.D.Sousa,B.K.Bose,K.S.Kim,"Fuzzy logic based on-line tuning of slip gain fro an indirect vector controlled induction motor drive," in IEEE/IECON Conf.Proc.,pp.1003-1008,1993.
[19]王永骥等,神经元网络控制[M],北京:机械工业出版社,1999.
[20]陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].北京:机械工业出版社.2001
[2l]高为炳著,变结构控制理论基础[M],北京:中国科学技术出版社,1990
[22]Krzeminski Z.,"Nonlinear control of induction motor," Proc.Of IFAC 87,Vol.3,pp.349-354.
[23]夏晓华,高为炳,非线性系统控制及解耦[M].北京:科学出版社,1997.
[24]葛宝明,王祥晰,苏鹏声,蒋静坪.交流传动系统控制策略综述[J].电气传动自动化,2001,23(4)
[25]陈洁,丙延年,刘文杰,郭旭红.多机传动系统智能同步控制方法的研究[[J].江苏电器,2003,5
[26]姜淑忠.交流伺服运动系统的开发[J].中小型电机,2005,32(1):49-52
[27]W.J.Wang,C.C.Wang,"Composite adaptive position controller for induction motor using feedback linearization," IEEE Proe.-Control Theory Appl,Vol.145,No.1,1998,PP25-32
[28]王立新,自适应模糊系统与控制[M],北京:国防工业出版社,1995.
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