基于DSP的交流同步直线电机伺服控制系统
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摘要
近十年来,随着高速加工技术、精密制造技术和数控技术等先进制造技术的发展,高速、高效、高精成为当前数控设备的发展方向,对设备各功能部件的性能也提出了更高的要求,要求进给驱动部件具有快的进给速度、高的定位精度以及高的动态响应性能。永磁同步直线电机(PMSLM-Permanent MagnetSynchronous Linear Motor)直接驱动系统作为一种新的进给传动方式出现在数控机床和数控加中心中,具有一定的代表性。以微控制器DSP(Digital SignalProcessor)为核心构成的位置闭环控制系统代表着当今电机精密位置数字控制的主流方向。选择合适的直线电机及驱动控制系统,配以合理的机床设计,完全可以生产出高性能、高可靠性的机床。因此,对其伺服控制理论及方法进行研究,具有重要的理论意义和广阔的应用前景。
在对永磁同步直线电机的结构和工作原理进行分析的基础上,本文从电压方程、机械运动方程和机电耦合方程诸方面进行分析,建立其数学模型。针对直线电机位置伺服控制系统要求有较好的位置跟踪性能这一特点,将传统的PID控制和智能控制相结合,设计了基于模糊推理的自校正PID控制器,用仿真软件MATLAB进行系统仿真并分析结果。在对直线电机伺服控制系统的总体结构进行分析和研究的基础上,设计了基于DSP(TMS320LF2407A)的全数字位置伺服控制系统,在DSP的集成开发环境中,利用C语言开发相应的伺服控制软件。在所建立的基于DSP开发系统的实验研究平台上,利用直线电机自带的光栅尺,对直线电机的动态性能进行实验研究。
实验结果表明以DSP为核心构成的全数字控制系统及模糊推理的自校正PID控的控制方法对永磁同步直线电机动子的速度调节快,动子定位精度高。从试验上验证了这种控制系统对直线电机控制的可行性。
For the past ten years, along with the development of the high speed process technology, the precise technique of manufacture and the numerical control technology, advanced technique of manufacture's development, high speed, highly effective, high precision becomes the current in numerical control equipment's development direction. And there are required to the equipment various functional components's performance in a higher way, which is the feed driving system, including the quick feed rate, the high pointing accuracy as well as the high dynamic response performance. PMSLM (Permanent Magnet Synchronous Linear Motor) as a new way to the feed drive system in the NC machine tool and the machining center has certain representation.. The closed-loop control system in position ,which takes the DSP as a core, is representing the main direction in the precise numerical position control of a motor . Choosing the appropriate PMSLM and the actuation control system, and the reasonable machine design, may produce the high performance and the redundant reliable machine tool definitely. Therefore, it is the important theory significance and the broad application prospect that research on its servo control theory and the method.
This article researchs mainly on these contents, including the analysis to PMSLM 's structure and the principle of work which involves in the voltage equation, the mechanical movement equation and mechanical and electrical coupling equation, and making its mathematical model. To the PMSLM's good position track performance which meets to the servocontrol request, It also involves unifing the traditional PID control and the intelligent control, and designing self-correcting PID controller based on the fuzzy reasoning, making the system simulation with the MATLAB and analyzing the results. On the base of the analysis and the research on the linear motor servocontrol's gross structure, it has designed control system which based on the DSP's (TMS320LF2407A) entire digit position servocontrol, and making program in corresponding servo-control software by the C language. In the platform based on the DSP development system, the text has studied the linear motor 's dynamic property, used it's diffraction grating ruler.
The experimental result indicated that this control system and method is in good with the active cell's regulating speed to be faster and active cell pointing accuracy to be higher.This confirmed that this control system of the linear motor is feasible.
在对永磁同步直线电机的结构和工作原理进行分析的基础上,本文从电压方程、机械运动方程和机电耦合方程诸方面进行分析,建立其数学模型。针对直线电机位置伺服控制系统要求有较好的位置跟踪性能这一特点,将传统的PID控制和智能控制相结合,设计了基于模糊推理的自校正PID控制器,用仿真软件MATLAB进行系统仿真并分析结果。在对直线电机伺服控制系统的总体结构进行分析和研究的基础上,设计了基于DSP(TMS320LF2407A)的全数字位置伺服控制系统,在DSP的集成开发环境中,利用C语言开发相应的伺服控制软件。在所建立的基于DSP开发系统的实验研究平台上,利用直线电机自带的光栅尺,对直线电机的动态性能进行实验研究。
实验结果表明以DSP为核心构成的全数字控制系统及模糊推理的自校正PID控的控制方法对永磁同步直线电机动子的速度调节快,动子定位精度高。从试验上验证了这种控制系统对直线电机控制的可行性。
For the past ten years, along with the development of the high speed process technology, the precise technique of manufacture and the numerical control technology, advanced technique of manufacture's development, high speed, highly effective, high precision becomes the current in numerical control equipment's development direction. And there are required to the equipment various functional components's performance in a higher way, which is the feed driving system, including the quick feed rate, the high pointing accuracy as well as the high dynamic response performance. PMSLM (Permanent Magnet Synchronous Linear Motor) as a new way to the feed drive system in the NC machine tool and the machining center has certain representation.. The closed-loop control system in position ,which takes the DSP as a core, is representing the main direction in the precise numerical position control of a motor . Choosing the appropriate PMSLM and the actuation control system, and the reasonable machine design, may produce the high performance and the redundant reliable machine tool definitely. Therefore, it is the important theory significance and the broad application prospect that research on its servo control theory and the method.
This article researchs mainly on these contents, including the analysis to PMSLM 's structure and the principle of work which involves in the voltage equation, the mechanical movement equation and mechanical and electrical coupling equation, and making its mathematical model. To the PMSLM's good position track performance which meets to the servocontrol request, It also involves unifing the traditional PID control and the intelligent control, and designing self-correcting PID controller based on the fuzzy reasoning, making the system simulation with the MATLAB and analyzing the results. On the base of the analysis and the research on the linear motor servocontrol's gross structure, it has designed control system which based on the DSP's (TMS320LF2407A) entire digit position servocontrol, and making program in corresponding servo-control software by the C language. In the platform based on the DSP development system, the text has studied the linear motor 's dynamic property, used it's diffraction grating ruler.
The experimental result indicated that this control system and method is in good with the active cell's regulating speed to be faster and active cell pointing accuracy to be higher.This confirmed that this control system of the linear motor is feasible.
引文
[1]张伯霖,黄晓明,范梦吾技术与装备市场,高速数控机床三种进给系统的分析与评价世界制造2003年,Vol.65,No.2:88-92
[2]Salomon C.Process for the Machining of Metals or Similarly Acting Materials When Being Worked by Cutting Tools.German Patent,523594.1931-04
[3]张伯霖,杨庆东,陈长年高速切削技术及应用第1版北京:机械工业出版社,2002.24-39
[4]郭庆鼎,王成元,周美文等直线交流伺服系统的精密控制技术.第1版.北京:机械工业出版社,2000.3-40
[5]邓凌峰,刘丁,李琦基于DSP的全数字直流模糊位置控制[J].电气传动,2000(2):33-35.
[6]叶云岳 直线电机原理与应用 北京:机械工业出版社,2000
[7]徐月同 高速精密永磁直线同步电机进给系统及控制技术研究 浙江大学博士论文,2004.12
[8]李永东 交流电机数字控制系统[M]北京:机械工业出版社,2002
[9]李仁定 电机的微机控制[M]北京:机械工业出版社,1999
[10]李叶松,尹泉,姜向龙 交流永磁同步电机全数字伺服控制器设计[J]微电机,2003,第36卷,第6期;25.27
[11]Zhuang M.Altherton D EPID controller desidn for a TITO system[J].In:Proc.IEE.PtD.1999(141):111-120
[12]宋运忠 PID 参数整定发展的趋势.焦作工学院学报,1999,18(5):369-371.
[13]刘金琨 先进 PID 控制 matlab 仿真 电子工业出版社 2004 7
[14]MATLAB User's Guide The MathWorks,Inc,2002
[15]徐听,李涛,伯晓晨等编著 MATLAB工具箱应用指南.电子工业出版社,2000,5
[16]杜志强,陈幼平,艾武等DSP在短行程直线电机精密位置控制中的应用研究.计算机测量与控制2005 13(2):131-134.
[17]江思敏等DSP芯片的原理与开发应用(第二版)北京:机械工业出版社,2003.6
[18]张毅刚等DSP原理、开发与应用 哈尔滨工业大学出版社,2006.8
[19]金钰,胡佑德等 伺服系统设计指导 北京:北京理工大学出版社,2000
[20]黄冰峰,游志宇,冯常基于工控机控制的轮对数控车床检测装置 工业控制计算机[J].2006(1).19-20.
[21]刘笃仁,韩保君 传感器原理及应用技术西安:西安电子科技大学出版社2003
[22]甘永梅,刘艺基于光栅的光电测长的原理[J]湖南轻工业高等专科学校学报2001-3
[23]崔骥,李怀琼,陈钱.光栅莫尔条纹信号的细分与辨向新技术[J].光学技术,2000.26(4):294-296.
[24]张善钟 计量光栅技术 北京:机械工业出版社,1985
[25]艾武,程立等 基于 DSP 的直线电机位置检测与控制技术 机械与电子2004(2)
[26]Digital Signal Processor Solutions for BLDC motor,Applcation Report Texas Instruments part #MPRA055.
[27]刘和平,严利平,张学锋,卓清锋.TMS320LF240x DSP 结构、原理及应用[M].北京:北京航空航大大学出版社,2002.
[28]董高峰 浅析霍尔电流传感器的应用 自动化博览[J]2005(2)15-17
[29]张华伟,孙越强 几种非侵入式电流测量技术 现代电子技术[J]2005(21)80-33
[30]李亮,阙沛文等 新型霍尔传感器在电流检测中的应用[J]仪表技术与传感器2005(4)3-5
[31]卢光华 磁补偿霍尔传感器在电力电子方面的应用研究[J]仪表技术 2003(5)46-47
[32]马云峰,马海峰 适用于电机控制的新型器件 潍坊高等专科学校学报 1999年第2期
[33]贾正春,马志远 电力电子学[M]北京:中国电力出版社 2001
[34]MITSUBISHI INTELLIGENT POWER MODULES PM30CSJ060 FLAT-BASE TYPE INSULATED PACKAGE
[35]霍孟友,张光远 基于 TMS320LF2407 的直流直线电机控制系统设计 电加工与模具2005年第3期
[36]程立 基于 DSP 的直流直线电机控制软件的研究与开发 华中科技大学硕士论文
[37]TMS320 Family Development Support Reference Guide,Texas Instruments,1990.
[38]韩红彬 基于 DSP 的同步直线电机控制系统 研究西南交通大学硕士论文 2005.5
[39]吴守箴,臧英杰 电气传动的脉宽调制控制技术 机械工业出版社 1995
[40]Zach F C.Efficiency Optimal Control for AC Drivers with PWM Inverters.IEEE Trans on IA,1985,IA-21(4)
[41]王晓明,王玲 电动机的DSP控制 北京航空航大大学出版社,2004.7
[42]李志民,张遇杰编 同步电动机调速系统 机械工业出版社,2003.7
[2]Salomon C.Process for the Machining of Metals or Similarly Acting Materials When Being Worked by Cutting Tools.German Patent,523594.1931-04
[3]张伯霖,杨庆东,陈长年高速切削技术及应用第1版北京:机械工业出版社,2002.24-39
[4]郭庆鼎,王成元,周美文等直线交流伺服系统的精密控制技术.第1版.北京:机械工业出版社,2000.3-40
[5]邓凌峰,刘丁,李琦基于DSP的全数字直流模糊位置控制[J].电气传动,2000(2):33-35.
[6]叶云岳 直线电机原理与应用 北京:机械工业出版社,2000
[7]徐月同 高速精密永磁直线同步电机进给系统及控制技术研究 浙江大学博士论文,2004.12
[8]李永东 交流电机数字控制系统[M]北京:机械工业出版社,2002
[9]李仁定 电机的微机控制[M]北京:机械工业出版社,1999
[10]李叶松,尹泉,姜向龙 交流永磁同步电机全数字伺服控制器设计[J]微电机,2003,第36卷,第6期;25.27
[11]Zhuang M.Altherton D EPID controller desidn for a TITO system[J].In:Proc.IEE.PtD.1999(141):111-120
[12]宋运忠 PID 参数整定发展的趋势.焦作工学院学报,1999,18(5):369-371.
[13]刘金琨 先进 PID 控制 matlab 仿真 电子工业出版社 2004 7
[14]MATLAB User's Guide The MathWorks,Inc,2002
[15]徐听,李涛,伯晓晨等编著 MATLAB工具箱应用指南.电子工业出版社,2000,5
[16]杜志强,陈幼平,艾武等DSP在短行程直线电机精密位置控制中的应用研究.计算机测量与控制2005 13(2):131-134.
[17]江思敏等DSP芯片的原理与开发应用(第二版)北京:机械工业出版社,2003.6
[18]张毅刚等DSP原理、开发与应用 哈尔滨工业大学出版社,2006.8
[19]金钰,胡佑德等 伺服系统设计指导 北京:北京理工大学出版社,2000
[20]黄冰峰,游志宇,冯常基于工控机控制的轮对数控车床检测装置 工业控制计算机[J].2006(1).19-20.
[21]刘笃仁,韩保君 传感器原理及应用技术西安:西安电子科技大学出版社2003
[22]甘永梅,刘艺基于光栅的光电测长的原理[J]湖南轻工业高等专科学校学报2001-3
[23]崔骥,李怀琼,陈钱.光栅莫尔条纹信号的细分与辨向新技术[J].光学技术,2000.26(4):294-296.
[24]张善钟 计量光栅技术 北京:机械工业出版社,1985
[25]艾武,程立等 基于 DSP 的直线电机位置检测与控制技术 机械与电子2004(2)
[26]Digital Signal Processor Solutions for BLDC motor,Applcation Report Texas Instruments part #MPRA055.
[27]刘和平,严利平,张学锋,卓清锋.TMS320LF240x DSP 结构、原理及应用[M].北京:北京航空航大大学出版社,2002.
[28]董高峰 浅析霍尔电流传感器的应用 自动化博览[J]2005(2)15-17
[29]张华伟,孙越强 几种非侵入式电流测量技术 现代电子技术[J]2005(21)80-33
[30]李亮,阙沛文等 新型霍尔传感器在电流检测中的应用[J]仪表技术与传感器2005(4)3-5
[31]卢光华 磁补偿霍尔传感器在电力电子方面的应用研究[J]仪表技术 2003(5)46-47
[32]马云峰,马海峰 适用于电机控制的新型器件 潍坊高等专科学校学报 1999年第2期
[33]贾正春,马志远 电力电子学[M]北京:中国电力出版社 2001
[34]MITSUBISHI INTELLIGENT POWER MODULES PM30CSJ060 FLAT-BASE TYPE INSULATED PACKAGE
[35]霍孟友,张光远 基于 TMS320LF2407 的直流直线电机控制系统设计 电加工与模具2005年第3期
[36]程立 基于 DSP 的直流直线电机控制软件的研究与开发 华中科技大学硕士论文
[37]TMS320 Family Development Support Reference Guide,Texas Instruments,1990.
[38]韩红彬 基于 DSP 的同步直线电机控制系统 研究西南交通大学硕士论文 2005.5
[39]吴守箴,臧英杰 电气传动的脉宽调制控制技术 机械工业出版社 1995
[40]Zach F C.Efficiency Optimal Control for AC Drivers with PWM Inverters.IEEE Trans on IA,1985,IA-21(4)
[41]王晓明,王玲 电动机的DSP控制 北京航空航大大学出版社,2004.7
[42]李志民,张遇杰编 同步电动机调速系统 机械工业出版社,2003.7