基于ARM-Linux的交流伺服控制器的设计
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摘要
交流伺服控制系统属于一种运动控制系统,代表了当今技术发展的趋势。在当今自动化技术中,运动控制代表着用途最广而又最复杂的任务。其原因就在于生产过程的速度在不断的提高,而且制造业对加工精度和实现敏捷制造提出了越来越高的要求。
本文针对伺服系统的高性能要求,设计了一套基于三星S3C2410A开发板ARM9芯片的全数字交流伺服控制系统,在硬件和软件方面,进行了各模块的设计。
首先对交流永磁同步电动机伺服系统的发展概况进行了介绍,然后对交流永磁同步电动机的数学模型、工作原理以及矢量控制在交流永磁同步电动机上的应用进行了说明。在硬件设计部分,阐述了以ARM9芯片为核心的伺服控制系统的构建过程,并对其中比较关键的部分进行了详尽的分析。在软件设计部分,描述了嵌入式操作系统Linux及其在ARM9芯片上的移植,多任务的划分和调度以及各任务的功能流程,并给出了部分程序源代码。在控制算法上采用经典的三环控制策略,采用传统的PID算法,其中位置环采用比例调节算法,速度环和电流环采用比例积分调节相结合的算法。最后进行了仿真试验并对全文进行了简明的总结,并对该领域在未来的发展做了展望。
仿真结果表明,采用以上的设计方案可以较好地达到位置跟踪效果。尤是移植了Linux操作系统以后,软件的可靠性、实时性和可扩展性都得到了提高。本课题由于采用了嵌入式操作系统,系统软件可按照多任务的方式来编写,从而将设计难点分散,简化并加快了伺服控制器应用程序的开发,并可以方便的进行功能扩展。
AC servo control system is one branch of motion control system, and is introduced specially for its popularity in position control field. Today, in the factory automation field, motion control system is widely used for sophisticated requirements. Its popularity orients from the improvement of productivity, and manufacturing industry demands on high precision and flexible production equipment.
In this paper, a set of fully-digital-signal AC servo system based on Samsung S3C2410A chip ARM9 is designed according to the high accuracy position request.The hardware and software are analysed and designed for the module.
In this paper, the development of servo system based on AC permanent magnetsynehronous motor is presented in brief firstly.Then mathematical model and vectorcontrol principle in the application of permanent magnet synchronous motor are analyzed. In the designing of the hardware, it explains the constructive source of the whole system with the kernel of S3C2410A and makes full analysis to the pivotal sections.In the designing of software, it deseribes the transplantation on S3C2410A of embedded operation system Linux, the partition and allocation of the tasks and the function flowing of each task in detail.The systemadopts the traditional PID arithmetic and the classic three-loop control method.P algorithm is used in position loop control, PI algorithm is used in velocity loop and current loop.Finally, simulation tests are conducted ,A concise summary is made of the full text and the development in the future is prospected in the field.
The simulation tests result indicated that using the design scheme above can achieve the good position track effeet. especially after the transplantation on S3C2410A of embedded operation system Linux, reliability, real-time and extension of software all enhance enormously.The software can be prepared according to the task because of using the embedded real-time operating system.So designing difficult is scattered, application procedures of the servo controller is simplified and speeded up, the expansion of the function is facilitatede too.
本文针对伺服系统的高性能要求,设计了一套基于三星S3C2410A开发板ARM9芯片的全数字交流伺服控制系统,在硬件和软件方面,进行了各模块的设计。
首先对交流永磁同步电动机伺服系统的发展概况进行了介绍,然后对交流永磁同步电动机的数学模型、工作原理以及矢量控制在交流永磁同步电动机上的应用进行了说明。在硬件设计部分,阐述了以ARM9芯片为核心的伺服控制系统的构建过程,并对其中比较关键的部分进行了详尽的分析。在软件设计部分,描述了嵌入式操作系统Linux及其在ARM9芯片上的移植,多任务的划分和调度以及各任务的功能流程,并给出了部分程序源代码。在控制算法上采用经典的三环控制策略,采用传统的PID算法,其中位置环采用比例调节算法,速度环和电流环采用比例积分调节相结合的算法。最后进行了仿真试验并对全文进行了简明的总结,并对该领域在未来的发展做了展望。
仿真结果表明,采用以上的设计方案可以较好地达到位置跟踪效果。尤是移植了Linux操作系统以后,软件的可靠性、实时性和可扩展性都得到了提高。本课题由于采用了嵌入式操作系统,系统软件可按照多任务的方式来编写,从而将设计难点分散,简化并加快了伺服控制器应用程序的开发,并可以方便的进行功能扩展。
AC servo control system is one branch of motion control system, and is introduced specially for its popularity in position control field. Today, in the factory automation field, motion control system is widely used for sophisticated requirements. Its popularity orients from the improvement of productivity, and manufacturing industry demands on high precision and flexible production equipment.
In this paper, a set of fully-digital-signal AC servo system based on Samsung S3C2410A chip ARM9 is designed according to the high accuracy position request.The hardware and software are analysed and designed for the module.
In this paper, the development of servo system based on AC permanent magnetsynehronous motor is presented in brief firstly.Then mathematical model and vectorcontrol principle in the application of permanent magnet synchronous motor are analyzed. In the designing of the hardware, it explains the constructive source of the whole system with the kernel of S3C2410A and makes full analysis to the pivotal sections.In the designing of software, it deseribes the transplantation on S3C2410A of embedded operation system Linux, the partition and allocation of the tasks and the function flowing of each task in detail.The systemadopts the traditional PID arithmetic and the classic three-loop control method.P algorithm is used in position loop control, PI algorithm is used in velocity loop and current loop.Finally, simulation tests are conducted ,A concise summary is made of the full text and the development in the future is prospected in the field.
The simulation tests result indicated that using the design scheme above can achieve the good position track effeet. especially after the transplantation on S3C2410A of embedded operation system Linux, reliability, real-time and extension of software all enhance enormously.The software can be prepared according to the task because of using the embedded real-time operating system.So designing difficult is scattered, application procedures of the servo controller is simplified and speeded up, the expansion of the function is facilitatede too.
引文
1.巨水铎,张兴莲,工科慧.交流伺服系统综述[J],电气时代,2008,(11):19-22.
2.郭庆鼎,王成元.交流伺服系统[M],北京:机械工业出版社,1994,48-49.
3.骆再飞.交流伺服系统及其先进控制策略综述[J],机床与液压,2002,(6):7-10.
4.王晓明.电动机的单片机控制[M],北京:北京航空航天大学出版社,2002,167-179.
5.Japan Servo Co.Ltd.The certificate of 2-Phase Hybrid Stepping Motor[M],2004,16-24.
6.彭伟发,赵金,杨璐.交流伺服系统新型控制器的设计[J],工矿自动化,2005,(5):1-2.
7.许强,贾正春,李郎如.永磁同步电动机的模型参考自适应速度控制[J],电气传动,2006,(4):3-4.
8.Nielson J,Keefer J,Mc Cullough B.SAASM Rockwell Collins(tm) Next Generation GPS Receiver Design[J],Proceedings of IEEE PLANS 2000,2000,(5):98-103.
9.孙旭东,王善铭.电机学[M],北京:清华大学出版社,2006,255-260.
10.杨耕,罗应立.电机与运动控制系统[M],北京:清华大学出版社,2006,75-114.
11.杨贵杰,孙力,崔乃政等.空间矢量脉宽调制方法研究[J],中国电机工程学报,2001,(6):79-83.
12.孙海涛.基于CPLD的交流异步电机空间矢量控制系统研究[D],大连:大连理工大学,2005,10-15.
13.顾绳谷.电机及拖动基础(下册)[M],北京:机械工业出版社,2003,143-145.
14.姜淑忠.空间矢量PWM算法的理解[J],伺服技术,2006,(9):39-40.
15.张云.DSP控制器及其应用[M],北京:机械工业出版社,2001,15-18.
16.黄祯祥.基于DSP的交流伺服智能控制系统的设计与研究[D],天津:天津大学,2005.
17.夏宇闻.数字系统设计教程[M],北京:北京航空航天大学出版社,2003,26-34.
18.任爱峰.基于FPGA的嵌入式系统化设计[M],西安:西安电子科技大学出版社,2004,124-141.
19.罗旭.基于ARM的逆变器控制芯片研究[J],电气传动,2007,25-28.
20.杨静.基于单片机智能型光电编码器计数器[J],电子测量技术,2001,20-21.
21.谢宝昌.电机的控制技术及应用[M],北京:北京航空航天大学出版社,2005,88-90.
22.陈全福.智能机器人平台控制系统设计[D],哈尔滨:哈尔滨工程大学,2006.
23.魏小龙.MSP430系列单片机接口技术及系统设计实例[M],北京:北京航空航天大学出版社,2002,35-37.
24.田泽.嵌入式系统开发与应用『M],北京:北京航空航天大学出版社,2005,274-359.
25.Keith D McDonald.Performance Improvements to ARM in the Decade 2000-2010[J].ION55th Annual Meeting,1999:1-16.
26.彭卫东.Linux在ARM上的移植及应用[M],北京:北京航空航天大学出版社,2003,11-23.
27.任哲.嵌入式实时操作系统Linux的原理与应用[M].北京:北京航空航天大学出版社,2005,118-126.
28.倪继利.Linux内核分析及编程[M].北京:电子工业出版社,2005,69-84.
29.JeanJ.ubrosse.嵌入式实时操作系统Linux(第2版)[M],邵贝贝译,北京:北京航空航天大学出版社,2003,54-58.
30.李驹光,聂雪媛,江泽明.ARM应用系统开发祥解[M].北京:清华大学出版社,2003,93-110.
31.齐俊生.嵌入式Linux硬实时性的研究与实现[D],西安:西安理工大学,2003.
32.Tae H K,Hyeong G Y,Kwang W L,ect.Performance Enhancement of the Sensorless Drive for Brushless DC Motor Using Kalman Filter[M],ICPE,Korea,1998,488-496.
33.陈赜.ARM9嵌入式技术及Linux高级实验教程[M].北京:北京航空航天大学出版社,2005,9-34.
34.戴佳.51单片机C语言应用程序设计实例精讲[M].北京:电子工业出版社,2006,177-183.
35.洪英,陈曦.嵌入式实时多任务程序设计[J].计算机应用,2000,2:16-18.
36.Samsung.S3C2410 USER'S MANUAL[M].友善之臂科技公司,2007,1-459.
37.夏玮.MATLAB控制系统仿真与实例详解[M].北京:人民邮电出版社,2008,56-82.
38.刘金琨.先进PID控制MATLAB仿真[M],北京:电子工业出版社,2004,25-55.
2.郭庆鼎,王成元.交流伺服系统[M],北京:机械工业出版社,1994,48-49.
3.骆再飞.交流伺服系统及其先进控制策略综述[J],机床与液压,2002,(6):7-10.
4.王晓明.电动机的单片机控制[M],北京:北京航空航天大学出版社,2002,167-179.
5.Japan Servo Co.Ltd.The certificate of 2-Phase Hybrid Stepping Motor[M],2004,16-24.
6.彭伟发,赵金,杨璐.交流伺服系统新型控制器的设计[J],工矿自动化,2005,(5):1-2.
7.许强,贾正春,李郎如.永磁同步电动机的模型参考自适应速度控制[J],电气传动,2006,(4):3-4.
8.Nielson J,Keefer J,Mc Cullough B.SAASM Rockwell Collins(tm) Next Generation GPS Receiver Design[J],Proceedings of IEEE PLANS 2000,2000,(5):98-103.
9.孙旭东,王善铭.电机学[M],北京:清华大学出版社,2006,255-260.
10.杨耕,罗应立.电机与运动控制系统[M],北京:清华大学出版社,2006,75-114.
11.杨贵杰,孙力,崔乃政等.空间矢量脉宽调制方法研究[J],中国电机工程学报,2001,(6):79-83.
12.孙海涛.基于CPLD的交流异步电机空间矢量控制系统研究[D],大连:大连理工大学,2005,10-15.
13.顾绳谷.电机及拖动基础(下册)[M],北京:机械工业出版社,2003,143-145.
14.姜淑忠.空间矢量PWM算法的理解[J],伺服技术,2006,(9):39-40.
15.张云.DSP控制器及其应用[M],北京:机械工业出版社,2001,15-18.
16.黄祯祥.基于DSP的交流伺服智能控制系统的设计与研究[D],天津:天津大学,2005.
17.夏宇闻.数字系统设计教程[M],北京:北京航空航天大学出版社,2003,26-34.
18.任爱峰.基于FPGA的嵌入式系统化设计[M],西安:西安电子科技大学出版社,2004,124-141.
19.罗旭.基于ARM的逆变器控制芯片研究[J],电气传动,2007,25-28.
20.杨静.基于单片机智能型光电编码器计数器[J],电子测量技术,2001,20-21.
21.谢宝昌.电机的控制技术及应用[M],北京:北京航空航天大学出版社,2005,88-90.
22.陈全福.智能机器人平台控制系统设计[D],哈尔滨:哈尔滨工程大学,2006.
23.魏小龙.MSP430系列单片机接口技术及系统设计实例[M],北京:北京航空航天大学出版社,2002,35-37.
24.田泽.嵌入式系统开发与应用『M],北京:北京航空航天大学出版社,2005,274-359.
25.Keith D McDonald.Performance Improvements to ARM in the Decade 2000-2010[J].ION55th Annual Meeting,1999:1-16.
26.彭卫东.Linux在ARM上的移植及应用[M],北京:北京航空航天大学出版社,2003,11-23.
27.任哲.嵌入式实时操作系统Linux的原理与应用[M].北京:北京航空航天大学出版社,2005,118-126.
28.倪继利.Linux内核分析及编程[M].北京:电子工业出版社,2005,69-84.
29.JeanJ.ubrosse.嵌入式实时操作系统Linux(第2版)[M],邵贝贝译,北京:北京航空航天大学出版社,2003,54-58.
30.李驹光,聂雪媛,江泽明.ARM应用系统开发祥解[M].北京:清华大学出版社,2003,93-110.
31.齐俊生.嵌入式Linux硬实时性的研究与实现[D],西安:西安理工大学,2003.
32.Tae H K,Hyeong G Y,Kwang W L,ect.Performance Enhancement of the Sensorless Drive for Brushless DC Motor Using Kalman Filter[M],ICPE,Korea,1998,488-496.
33.陈赜.ARM9嵌入式技术及Linux高级实验教程[M].北京:北京航空航天大学出版社,2005,9-34.
34.戴佳.51单片机C语言应用程序设计实例精讲[M].北京:电子工业出版社,2006,177-183.
35.洪英,陈曦.嵌入式实时多任务程序设计[J].计算机应用,2000,2:16-18.
36.Samsung.S3C2410 USER'S MANUAL[M].友善之臂科技公司,2007,1-459.
37.夏玮.MATLAB控制系统仿真与实例详解[M].北京:人民邮电出版社,2008,56-82.
38.刘金琨.先进PID控制MATLAB仿真[M],北京:电子工业出版社,2004,25-55.