新型冷库门运动控制器研究与设计
摘要
冷库门运动控制器设计是决定冷库门产品整体性能的关键,是工业门生产企业提升其自身竞争力的核心技术之一。
本文以江苏省海门市雪盾冷冻设备有限公司与南京理工大学产学研合作为背景,针对企业原有的冷库门控制器在门速不能准确控制、有效防夹区段过窄及人机接口不完善等方面的不足,提出了改进型冷库门控制器设计方案。对原冷库门驱动电机控制方案、防夹方法及部分接口电路的硬软件进行了改进设计。
首先,提出了基于模糊神经网络的驱动电机直接转矩控制方案,并通过将其与传统直接转矩控制方法下的Matlab/Simulink仿真结果进行对比,理论上验证了该方案可实现准确快速的速度控制,且具有较小的转矩脉动。
其次,基于基本的电机定子电流检测防夹方法,提出了多点上限电流实时插补的防夹方案,扩大了冷库门有效防夹区段,在此基础上还增加了机械防夹结构,使冷库门的运行更加安全可靠。
进而,根据新控制方案的需要,完成了系统硬件和软件的详细改进设计。对基于DSP的运动控制器硬件电路进行了改进设计,如:按键及旋钮接口电路、定子电流检测电路及通讯接口电路。用C语言完成了各个控制软件模块的编程,如开关门动作控制模块、电机控制模块和系统中断模块等。
最后,通过现场调试,验证了系统可实现对门速的准确控制,关门防夹力明显减小,人机接口功能也使系统运行更加方便灵活,这些都表明冷库门运行性能得到一定提升。
As a key factor which determining the whole performance of refrigerator door, the design of the motion controller is regarded as one of core technologies of manufacturers which can enhance their competitiveness.
Based on the research cooperation between Nanjing University of Science and Technology and Xuedun Frozen Equipment Co., Ltd. in Haimen, Jiangsu province, faced to shortages of the original design, such as inaccuracy control of door speed, narrow anti-squeeze range and incomplete man-machine interface, and so on, both hardware and software design scheme of advanced refrigerator door motion controller was put forward. The motor control strategy, anti-squeeze method, and part of man-machine interface were improved
Firstly, a direct torque induction motor control(DTC) strategy which based on fuzzy neural network(FNN) was proposed. By simulation and comparison to the performance of original traditional DTC system with Matlab/Simulink, it was shown theoretically that more accurate and faster speed control and smaller torque pulsation had been achieved.
Then, a multi-current-upper-limits on-line interpolator anti-squeeze method is proposed based on motor stator current detection anti-squeeze method, and also a mechanical anti-squeeze construct was designed. The effective range is extended so as to improve reliability and safety during door operation.
Moreover, the detailed design of advanced hardware and software was carried out. Hardware circuits, which include button and knob circuit, stator current detection circuit and RS232 interface circuit, were designed based on DSP. Software modules, which included open and close module, motor control module and several interruption modules were developed with C language.
Finally, through field testing, it was shown that door speed could be controlled accurately, the anti-squeeze force could be decreased obviously, and the man-machine interface can work flexibility. As a result, the advanced refrigerator door motion controller enhances the performance of refrigerator door.
本文以江苏省海门市雪盾冷冻设备有限公司与南京理工大学产学研合作为背景,针对企业原有的冷库门控制器在门速不能准确控制、有效防夹区段过窄及人机接口不完善等方面的不足,提出了改进型冷库门控制器设计方案。对原冷库门驱动电机控制方案、防夹方法及部分接口电路的硬软件进行了改进设计。
首先,提出了基于模糊神经网络的驱动电机直接转矩控制方案,并通过将其与传统直接转矩控制方法下的Matlab/Simulink仿真结果进行对比,理论上验证了该方案可实现准确快速的速度控制,且具有较小的转矩脉动。
其次,基于基本的电机定子电流检测防夹方法,提出了多点上限电流实时插补的防夹方案,扩大了冷库门有效防夹区段,在此基础上还增加了机械防夹结构,使冷库门的运行更加安全可靠。
进而,根据新控制方案的需要,完成了系统硬件和软件的详细改进设计。对基于DSP的运动控制器硬件电路进行了改进设计,如:按键及旋钮接口电路、定子电流检测电路及通讯接口电路。用C语言完成了各个控制软件模块的编程,如开关门动作控制模块、电机控制模块和系统中断模块等。
最后,通过现场调试,验证了系统可实现对门速的准确控制,关门防夹力明显减小,人机接口功能也使系统运行更加方便灵活,这些都表明冷库门运行性能得到一定提升。
As a key factor which determining the whole performance of refrigerator door, the design of the motion controller is regarded as one of core technologies of manufacturers which can enhance their competitiveness.
Based on the research cooperation between Nanjing University of Science and Technology and Xuedun Frozen Equipment Co., Ltd. in Haimen, Jiangsu province, faced to shortages of the original design, such as inaccuracy control of door speed, narrow anti-squeeze range and incomplete man-machine interface, and so on, both hardware and software design scheme of advanced refrigerator door motion controller was put forward. The motor control strategy, anti-squeeze method, and part of man-machine interface were improved
Firstly, a direct torque induction motor control(DTC) strategy which based on fuzzy neural network(FNN) was proposed. By simulation and comparison to the performance of original traditional DTC system with Matlab/Simulink, it was shown theoretically that more accurate and faster speed control and smaller torque pulsation had been achieved.
Then, a multi-current-upper-limits on-line interpolator anti-squeeze method is proposed based on motor stator current detection anti-squeeze method, and also a mechanical anti-squeeze construct was designed. The effective range is extended so as to improve reliability and safety during door operation.
Moreover, the detailed design of advanced hardware and software was carried out. Hardware circuits, which include button and knob circuit, stator current detection circuit and RS232 interface circuit, were designed based on DSP. Software modules, which included open and close module, motor control module and several interruption modules were developed with C language.
Finally, through field testing, it was shown that door speed could be controlled accurately, the anti-squeeze force could be decreased obviously, and the man-machine interface can work flexibility. As a result, the advanced refrigerator door motion controller enhances the performance of refrigerator door.
引文
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[2]杨玲.自动门业的“后竞争时代”[J].中国建设信息,2007(6):29-31.
[3]郭力志.自动门新产品[J].建材工业信息,2004(6):27.
[4]刘敬涛.我国多功能户门、车库门、自动门发展状况[J].中国建筑金属结构,2006(2):11-12.
[5]于洋,葛斌,苏晓鹭.基于单片机技术的智能自动门控制系统[J].计算机系统应用,2008(4):15-18.
[6]师会超.轨道交通自动门智能故障诊断技术研究及系统开发[D].南京:南京理工大学机械工程学院,2006.
[7]卢颂华.浅谈自动门[J].室内设计与装修,1996(2):23
[8]LICK V.Intelligent Automatic Garage Door Opener:PIC and Sensors Soph isticate Automation[J].Circuit cellar,2005(6):80,83-85.
[9]STANLEY WORKS.MC512 Control Box Reference Guide[EB/OL].2005-09-11[2009-03-05].www.stanleyaccesstechnologies.com/downloads/.
[10]BARB DYBWAD.Tanaka Auto Door Opens Just Wide Enough For You [EB/OL].2005-08-29[2009-05-02].http://www.engadget.com/2005/08/29/tanaka -auto-door-opens-just-wide-enough-for-you/
[11]CRAWFORD.2000 High Speed Door Datasheet[EB/OL].2003[2009-04-11].http://www.crawfordsolutions.com/en/products/industrialdoors/highspeeddoo rs/Pages/default.aspx.
[12]欧必得自动门有限公司.自动平移门[EB/OL].[2009-01-19].http://www.obed.com.cn/product_1.asp
[13]Kevin King.打开安全而高速的工业门[J].现代制造,2003(26):40-42.
[14]张海涛.列车自动门防挤压功能控制方法简介[J].铁道车辆,2003(5):28-30.
[15]RECORD U.K.Record Automatic Door System[EB/OL].[2009-02-21].http://www.recorduk.co.uk/en/03_automatic_doors/00_automatic_doors.htm.[16]马宏忠.电机学[M].北京:高等教育出版社,2009.[17]翁丽靖,张熙昀.新型自动门系统控制器[J].电子工程师,2007(1):77-80.[t8]朱明.基于MSP430单片机的电梯门控制器的研制[D].大连:大连理工大学,2006.[19]翁旦.电梯门机系统的实验研究和性能分析[D].上海:上海交通大学,2008.[20]Lin Chen,Kangling Fang,Zifan Hu.Direct Torque Control for Dual Thre e Phase Induction Machine Using Fuzzy Space Voltage Modulation[C].D.-S.Huang,L.Heutte,and M.Loog:ICIC 2007,LNCS 4681,452-460,2007.
[21]郎东革,胡庆.参数自适应控制在电梯门机系统中的应用[J].沈阳工程学院学报,2006(4):349-350,384.
[22]蒋永华,余愚,孙海山.变频调速技术的行业现状与发展趋势[J].工业仪表与自动化装置,2007(1):11-14.
[23]陆炜.冷库门运动控制器的研制与开发[D].南京:南京理工大学机械工程学院,2007.
[24]吴香玉,毛宗源.空间矢量调制技术在自动门控制系统中的应用[J].电气传动,2003(2):11-13.
[25]钱亮.直接转矩控制在电梯门机控制系统中的运用研究[D].西安:西北工业大学.2005.
[26]Xavier del Tom,Salvador Calls,Marcel G Jayne,Phil A.Witting,Antoni Arias,Jose Luis Romeral.Direct Torque Control of an Induction Motor U sing a Three-Level Inverter and Fuzzy Logic[C].Industrial Electronics,2004IEEE International Symposium on,Vol.2 2004:923-927.
[27]汪镭,周兴国.吴启迪.人工神经网络在传动领域中的应用[J].电机与控制学报,2001(1):36-39.
[28]麦俊杰.电机转矩、转速模糊控制器[D].浙江:浙江大学,2003.
[29]李文,欧青立,沈宏远,伍铁斌.智能控制及其应用综述[J].重庆邮电学院学报,2006(3):376-381.
[30]李勇,郭小定,罗伟斌.感应电动机直接转矩智能控制系统的Simulink仿真[J].电气传动,2008(11):12-16.
[31]Pedro Ponce Cruz,Jessica Pilar Santos Parcdes.Artificial Intelligence App lications in Direct Torque Control[C].The Fifth International Conference o n Power Electronics and Drive Systems,2003:1208-1212.
[32]Chengzhi Cao,Haiping Li.An Application of Fuzzy-inference-based Neura l Network in DTC System of Induction Motor[C].Proceedings of First Int ernational Conference on Machine Learning and Cybernetics,Beijing,2002:354-359.
[33]刘文泽,冯顺萍,方昌始.门宽自学习及运行参数的修改在电梯门机系统中的应用[J].电气传动,2002(4):35-38.
[34]马伟泽,孟德东.汽车电动窗防夹技术探讨[J].天津汽车,2008(10):44-46.
[35]肖俊峰,郑晓琴.一种红外线自动门单片机控制系统[J].门窗,2008(10):45-48.
[36]宋磊,马季文.电动窗防夹力的标定[J].汽车电器,2007(5):51-53.
[37]Matjaz Linec,Denis Donlagic.A Plastic Optical Fiber Microbend Sensor Used as a Low-Cost Anti-Squeeze Detector[J].IEEE SENSORS JOURNA L,2007(9):1262-1267.
[38]Hye-Jin Lee,Tae-Sung Yoon.Practical Pinch Detection Algorithm for Low -Cost Anti-pinch Window Control System[C].Industrial Technology,2005.ICTC 2005.IEEE International Conference on,2005:995-1000.
[39]程小金,李殷.一种车窗防夹光纤传感系统[J].传感器技术,2005(7):63-65.
[40]刘广敏,王学知,马建辉.无传感器电动车窗防夹控制模块的研制[J].汽车电子,2007(23):198-200.
[41]杨耕,罗应立.电机与运动控制系统[M].北京:清华大学出版社,2006.
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