数控机床永磁同步电机伺服驱动系统关键技术研究
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摘要
数控技术和数控装备是制造工业现代化的重要基础,直接影响到一个国家的经济发展和综合国力,关系到一个国家的战略地位。数控机床由机床本体和数控伺服系统构成。伺服系统是以机械位移为直接控制目标的自动控制系统。数控机床进给伺服系统控制机床各坐标轴的切削进给运动,伺服系统执行来自CNC装置的运动指令。伺服驱动系统的性能在很大程度上决定了数控机床的性能。数控机床的最高移动速度,跟踪速度,定位精度等重要的指标都取决于伺服系统的动态和静态性能指标。
本文在对永磁同步电机伺服驱动系统的总体设计框架进行简要介绍的基础上,重点对驱动装置的内部供电电源、伺服驱动装置的故障诊断以及伺服驱动装置的软件结构等关键技术进行了深入的研究和探讨,其主要内容为:
分析了电流连续和电流断续两种工作模式下反激式开关电源的数学模型,设计制作了工作于电流连续模式的基于TOP244的8路反激开关电源的电路,该电源已经应用于实际驱动装置,测试和运行表明电源满足设计要求。简要介绍了工作于电流断续模式的基于M51995的8路反激开关电源的设计。
故障诊断保护功能为伺服驱动系统的安全运行和工作人员的人身安全提供了有力保障,而面板参数输入等辅助功能进一步提高驱动器的智能水平。对伺服驱动系统的常见故障进行分析并归类,整理出故障处理事项,构思每一事项实现的软硬件设计,详细叙述了各事项的具体实现方法及在DSP或FPGA上的编程。通过基于状态机的VHDL编程实现面板参数输入,并实现参数的DSP自动存储。通过TMS320F2812的SCI模块实现与上位机的串行通讯。
伺服驱动器除了要实现三闭环控制等任务外,还需具备参数输入,故障诊断保护,RS232/485通讯,CAN总线通讯等功能,要求TMS320F2812有多任务实时处理的能力,通过移植μC/OS-II实时内核,合理设计各运行任务,使整体软件设计结构清晰,可靠性和可扩展性增强,提高了程序开发的效率。
Numerical Control (NC) technology and NC equipment are important foundation for Manufacturing Industry Modernization and make a direct impact on country economic development and overall national strength. They are related to country strategic position. NC machine tools are composed of the machine tool body and NC servo system. Servo system is an automatic control system which aims at mechanical displacement control directly. NC machine tool servo system control the cutting movement of each coordinate shaft and the servo system implements the movement instructions from the CNC device. The servo-driven system performance determines the performance of NC machine tools to a great extent. The maximum speed, track speed, positioning accuracy, and other important indicators of NC machine tools depend on the dynamic and static characteristics of servo system.
In this paper, the schema of permanent magnet synchronous motor (PMSM) servo-driven system is introduced briefly. Based on above, the key technologies of internal power supply, fault diagnosis and software structure of servo drive are studyed and explored in-depth. Its main contents are:
The flyback switching power supply mathematical model is analyzed in continuous current mode (CCM) and discontinuous conduction mode (DCM). 8-output flyback switching power supply based on TOP244 which works in continuous current mode is designed. The power has been used in the drives actually. The testing and operation of this power show that it meets the design requirements. At the same time, the design of 8-output flyback switching power supply based on M51995 which works in discontinuous current mode is introduced briefly.
The fault diagnosis and protection provided a strong guarantee for the safe operation of servo drive system and the personal safety of staff, and the parameters input function by panel with other auxiliary functions further improves the intelligence of this driver. The common faults of Servo drive system are analyzed and classified. Faults handling matters are sorted out and the hardware and software designs are conceived for each handling matter. The specific implementation methods of fault handling matters and programs on FPGA or DSP are illustrated in detail. The parameters input function by panel is implemented by VHDL programming based on state machine and the values of parameters are stored automatically on DSP. The serial communication between servo driver and PC is implemented by SCI module of TMS320F2812.
In addition to dealing with three closed-loop control tasks, the servo driver need to handle parameters input, fault diagnosis and protection, RS232/485 communications, CAN bus communications and other functions. It requires that TMS320F2812 has multitask real-time processing capability. Through the transplantation ofμC / OS-II real-time kernel on TMS320F2812, the running tasks are designed properly so that the overall software structure design is clear and its reliability and expansibility are enhanced. It will improve the efficiency of programming development.
本文在对永磁同步电机伺服驱动系统的总体设计框架进行简要介绍的基础上,重点对驱动装置的内部供电电源、伺服驱动装置的故障诊断以及伺服驱动装置的软件结构等关键技术进行了深入的研究和探讨,其主要内容为:
分析了电流连续和电流断续两种工作模式下反激式开关电源的数学模型,设计制作了工作于电流连续模式的基于TOP244的8路反激开关电源的电路,该电源已经应用于实际驱动装置,测试和运行表明电源满足设计要求。简要介绍了工作于电流断续模式的基于M51995的8路反激开关电源的设计。
故障诊断保护功能为伺服驱动系统的安全运行和工作人员的人身安全提供了有力保障,而面板参数输入等辅助功能进一步提高驱动器的智能水平。对伺服驱动系统的常见故障进行分析并归类,整理出故障处理事项,构思每一事项实现的软硬件设计,详细叙述了各事项的具体实现方法及在DSP或FPGA上的编程。通过基于状态机的VHDL编程实现面板参数输入,并实现参数的DSP自动存储。通过TMS320F2812的SCI模块实现与上位机的串行通讯。
伺服驱动器除了要实现三闭环控制等任务外,还需具备参数输入,故障诊断保护,RS232/485通讯,CAN总线通讯等功能,要求TMS320F2812有多任务实时处理的能力,通过移植μC/OS-II实时内核,合理设计各运行任务,使整体软件设计结构清晰,可靠性和可扩展性增强,提高了程序开发的效率。
Numerical Control (NC) technology and NC equipment are important foundation for Manufacturing Industry Modernization and make a direct impact on country economic development and overall national strength. They are related to country strategic position. NC machine tools are composed of the machine tool body and NC servo system. Servo system is an automatic control system which aims at mechanical displacement control directly. NC machine tool servo system control the cutting movement of each coordinate shaft and the servo system implements the movement instructions from the CNC device. The servo-driven system performance determines the performance of NC machine tools to a great extent. The maximum speed, track speed, positioning accuracy, and other important indicators of NC machine tools depend on the dynamic and static characteristics of servo system.
In this paper, the schema of permanent magnet synchronous motor (PMSM) servo-driven system is introduced briefly. Based on above, the key technologies of internal power supply, fault diagnosis and software structure of servo drive are studyed and explored in-depth. Its main contents are:
The flyback switching power supply mathematical model is analyzed in continuous current mode (CCM) and discontinuous conduction mode (DCM). 8-output flyback switching power supply based on TOP244 which works in continuous current mode is designed. The power has been used in the drives actually. The testing and operation of this power show that it meets the design requirements. At the same time, the design of 8-output flyback switching power supply based on M51995 which works in discontinuous current mode is introduced briefly.
The fault diagnosis and protection provided a strong guarantee for the safe operation of servo drive system and the personal safety of staff, and the parameters input function by panel with other auxiliary functions further improves the intelligence of this driver. The common faults of Servo drive system are analyzed and classified. Faults handling matters are sorted out and the hardware and software designs are conceived for each handling matter. The specific implementation methods of fault handling matters and programs on FPGA or DSP are illustrated in detail. The parameters input function by panel is implemented by VHDL programming based on state machine and the values of parameters are stored automatically on DSP. The serial communication between servo driver and PC is implemented by SCI module of TMS320F2812.
In addition to dealing with three closed-loop control tasks, the servo driver need to handle parameters input, fault diagnosis and protection, RS232/485 communications, CAN bus communications and other functions. It requires that TMS320F2812 has multitask real-time processing capability. Through the transplantation ofμC / OS-II real-time kernel on TMS320F2812, the running tasks are designed properly so that the overall software structure design is clear and its reliability and expansibility are enhanced. It will improve the efficiency of programming development.
引文
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[10]郭庆鼎, 孙宜标, 王丽梅. 现代永磁电动机交流伺服系统[M].北京:中国电力出版社, 2006
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[12]杨霞. 交流调速系统控制策略的研究[J]. 沈阳工业大学学报,2002, 24 (2):125-127
[13]李崇坚, 王祥珩, 李发海. 磁场定向控制交交变频同步电机系统的数学模型[J]. 清华大学学报,1995, 35 (4) : 1-8
[14]彭小明,顾绳谷. 基于矢量控制方式的永磁同步电动机的数学模型[J].电气自动化,1992, 14(1):4-6.
[15]李志民,张遇杰.同步电动机调速系统[M].北京:机械工业出版社,1996:28-47
[16]陈伯时.电力拖动自动控制系统[M].第二版.北京:机械工业出版社,1997:291-296
[17]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,2004:186-188
[18]崔丽丽, 张润和, 王凯丽. 永磁同步电动机交流伺服系统的研发[J]. 微特电机, 2006,2006(2):34-38
[19]刘日宝. 全数字永磁交流伺服驱动系统的研究[D]. 南京:南京航空航天大学,2004
[20]许强, 贾正春, 李朗如. 永磁同步电动机数字化电流控制方法[J]. 华中理工大学学报,1997,1997(2):44-46
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[23] Zhou Y.S., Lai L.Y.. Optimal Design for Fuzzy Controllers by Genetic Algorithms[J]. IEEE Trans. Ind,2000, 36(1):93-97
[24]Digital Control Systems (DCS) Group. Digital PID Controller Anti-windup. www.ti.com
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[28]丁新宇,徐钊. FPGA 芯片 APA 150 及其应用[J]. 国外电子元器件,2003, (12):52-53
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[31]王潞钢. DSP C2000 程序员高手进阶[M]. 北京:机械工业出版社,2005
[32]杨旭,裴云庆,王兆安. 开关电源技术[M]. 北京:机械工业出版社,2004:94-98
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[34]高曾辉,于相旭. 单端反激式开关电源的稳定性分析[J]. 重庆大学学报,2000,23(1):60-61.
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