伺服系统试验平台的研制及系统动态特性的研究
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摘要
永磁同步交流电机伺服系统的控制策略对精密定位系统的动态和稳态特性有很大的影响。同样,伺服系统的摩擦负载特性、惯性负载特性及柔性负载特性也对系统的性能有重要的影响。因此,深入研究伺服系统的控制策略及负载摩擦、惯量和柔性对伺服系统特性的影响有着十分重要的理论及实际意义。
本文的目的是研制一套专用于研究目的的伺服系统试验平台,其意义在于:可在平台上进行各种控制方法及摩擦、惯量、柔性等各种因素对系统特性的影响的研究。
为了使试验平台可以研究摩擦、惯量和柔性对伺服系统特性的影响,论文首先给出了摩擦负载、惯量负载、柔性负载的机构设计并计算出各负载的设计参数,在此基础上加工及装配完成了完整的试验平台。
其次,由于目前商用伺服驱动器及控制器并不提供其数学模型,不利于对伺服系统进行研究,本文在实验室前期建立的交流永磁同步电机矢量控制数学模型的基础上,分析并计算出伺服系统电流环、速度环和位置环的传递函数模型,得出各回路调节器的控制参数。
最后在该试验平台上采用C语言和汇编语言混合编程的方法编写了各回路控制程序及频率特性测试程序,完成了电流环、速度环、位置环及柔性机构的频率响应实验,实验验证了所建立系统各环节传递函数及控制器参数的正确性。
The control strategy of PMSM has great impact for the dynamic and steady-state characteristics of the precision positioning system. The friction, inertia andflexible characteristics of the servo system also have great impact for the dynamicand steady-state characteristics of the precision positioning system. So in-depthstudy of the control strategy and load friction, inertia and flexible has veryimportant theoretical and practical significance.
The purpose of this paper is to develop an experiment platform of AC PMSMservo system dedicated to the purpose of the study, so all kinds of research oncontrol strategy and load friction, inertia, flexible characteristics can be studiedon the platform.
In order to study friction, inertia and flexible characteristics of the servosystem, it presented design method first of load of friction, inertia, flexible andcalculated design parameters, installed the complete platform.
Secondly, the current business servo actuator and controller don’t providethe mathematical model; it is not conducive to the servo system. It found themathematical model of PMSM, then found the transfer function model of currentloop, speed loop and position loop, it calculates the control parameters of eachloop controller.
The control program is completed with C and assembles language finally;the experiment is carried out on the experiment platform to test the frequencycharacteristics of the current loop, speed loop, the position loop, and tests themechanical resonance frequency of flexible rod, the transfer function of thesystem is certificated.
本文的目的是研制一套专用于研究目的的伺服系统试验平台,其意义在于:可在平台上进行各种控制方法及摩擦、惯量、柔性等各种因素对系统特性的影响的研究。
为了使试验平台可以研究摩擦、惯量和柔性对伺服系统特性的影响,论文首先给出了摩擦负载、惯量负载、柔性负载的机构设计并计算出各负载的设计参数,在此基础上加工及装配完成了完整的试验平台。
其次,由于目前商用伺服驱动器及控制器并不提供其数学模型,不利于对伺服系统进行研究,本文在实验室前期建立的交流永磁同步电机矢量控制数学模型的基础上,分析并计算出伺服系统电流环、速度环和位置环的传递函数模型,得出各回路调节器的控制参数。
最后在该试验平台上采用C语言和汇编语言混合编程的方法编写了各回路控制程序及频率特性测试程序,完成了电流环、速度环、位置环及柔性机构的频率响应实验,实验验证了所建立系统各环节传递函数及控制器参数的正确性。
The control strategy of PMSM has great impact for the dynamic and steady-state characteristics of the precision positioning system. The friction, inertia andflexible characteristics of the servo system also have great impact for the dynamicand steady-state characteristics of the precision positioning system. So in-depthstudy of the control strategy and load friction, inertia and flexible has veryimportant theoretical and practical significance.
The purpose of this paper is to develop an experiment platform of AC PMSMservo system dedicated to the purpose of the study, so all kinds of research oncontrol strategy and load friction, inertia, flexible characteristics can be studiedon the platform.
In order to study friction, inertia and flexible characteristics of the servosystem, it presented design method first of load of friction, inertia, flexible andcalculated design parameters, installed the complete platform.
Secondly, the current business servo actuator and controller don’t providethe mathematical model; it is not conducive to the servo system. It found themathematical model of PMSM, then found the transfer function model of currentloop, speed loop and position loop, it calculates the control parameters of eachloop controller.
The control program is completed with C and assembles language finally;the experiment is carried out on the experiment platform to test the frequencycharacteristics of the current loop, speed loop, the position loop, and tests themechanical resonance frequency of flexible rod, the transfer function of thesystem is certificated.
引文
1.刘日宝.全数字永磁交流伺服驱动系统的研究.南京航空航天大学硕士学位论文, 2004.3:10~15
2.陈荣.交流永磁同步伺服系统的现状与发展.电气时代, 2005.9:104~107
3.黄益群等.运动控制新技术.伺服控制, 2005.11:14~16
4. George Ellis, Zhiqiang Gao. Cures for Low-Frequency MechanicalResonance in Industrial Servo Systems. IEEE Industry Applications Society,2001.01:252~258
5.李久胜,王炎.基于滑模原理的鲁棒交流伺服控制器.哈尔滨工业大学学报, 2000.4:19~23
6.潘贵喜,陈治川,阮毅.可控加载装置的研究.电气传动自动化,2004.26(1):7~10
7.陈荣.永磁同步电机伺服系统研究.南京航空航天大学博士学位论文,2005:108~110
8.刘彦,马咏梅.多功能机械传动组合试验台的研制.中国测试技术,2003.11:23~24
9.陈小元,方凯,杨银贤.汽车制动器惯性试验台的系统设计与实现.电子技术, 2004.8:55~57
10.盛朝强,谢昭莉.基于电惯量的汽车惯性式制动试验系统的设计.重庆大学学报, 2005.1:90~92
11.张兴君.火炮伺服系统模拟负载系统的研制.南京理工大学硕士学位论文, 2004.2
12.张思弟,饶华球,李宏胜.伺服系统性能测试系统的开发研究.制造技术与机床, 2005.3:62~65
13. George Ellis, Robert D.Lorenz. Resonant Load Control Methods forIndustrial Servo Drives. IEEE Industry Applications Society, 2000.10:8~12
14.刘胜,彭侠夫,叶瑰昀.现代伺服系统设计.哈尔滨工程大学出版社,2001:90~101
15. George W.Younkin, William D.McGlasson, Robert D.Lorenz.Considerations for Low Inertia AC Drives in Machine Tool Axis ServoApplications. IEEE Transactions on Industry Applications,1991.02:262~267
16. G. Zhang and J. Furusho. Speed Control of Two-inertia System by PI/PIDControl. IEEE Trans. on Ind. Elec, Vol. 47, No. 3, 2000.
17. Guoguang Zhang, Junji Furusho, Makoto Kajitani. A New Design Method ofServo Drive System with Torsional Load. IEEE Industry Electronics Society,1998.07:1114~1119
18. Josko Deur. A Comparative Study of Servo Systems with AccelerationFeedback, Proc of IEEE IAS (Rome), 2000.9:462~467
19. Yung-Yaw Chen, Pai-Yi Huang, Jia-Yush Yen. Frequency-DomainIdentification Algorithms for Servo Systems With Friction. IEEETransactions on Control Systems Technology, 2002.10:654~665.
20. Hyung-Tae Moon, Hyun-Soo Kim, and Myung-Joong Youn. A Discrete-time Predictive Current Control for PMSM. proc. of IEEE on PowerElectronics, 2003.2:464~472.
21. Kenji Inoue, Mutsuo Nakaoka. Analysis and Design of AC Servo MotionDrive Control System with 2-Mass Mechanical Resonant Load. InternationalWorkshop on Advanced Motion Control, 1996.02:600~605
22. W.Z,Qian, S.K.Panda, J.X.Xu. Torque Ripple Minimization in PermanentMagent Synchronous Motors Using Iterative Learning Control. IEEE,Transactions on Power Electronics, 2004, 19(2):272~279.
23. Liu,Jui-Jung, Lee,Ya-Wei, Wang,Fu-Cheng. Time and Frequency DomainIdentification and Analysis of A Permanent Magnet Synchronous ServoMotor. Journal of the Chinese Institute of Engineers, 2006.07:683~695
24. D.Casadei, F.Profumo, G.Serra, A.Tani. FOC and DTC: Two ViableSchemes for Induction Motorstorque Control. IEEE Transactions on PowerElectronics, 2002, 17(5): 779~787.
25.阮成功.混合驱动调速系统的设计与研究.福州大学硕士学位论文,2006.5
26.江苏省海安兰菱磁粉制动器厂.磁粉离合器、制动器技术报告, 2003:79~87
27. Herman J, van de Straete, Joris de Schutter, Hybrid Cam Mechanisms.IEEE/ASME Transactions on Mechatronics,1996,1(4):284~289
28.张兴君.火炮伺服系统模拟负载系统的研究.南京理工大学硕士学位论文, 2004.2
29. H. Wertz, F. Schutte, Self-tuning Speed Control for Servo Drives withImperfect Mechanical Load, Proc of IEEE IAS (Rome), 2000.5:45~50
30. Y. Hori, H. Sawada, and Y. Chun, Slow Resonance Ratio Control forVibration Suppression and Disturbance Rejection in Torsional System, IEEETrans on Ind. Elec,Vol 45, No. 1, Feb 1999:345~356
31.张策.机械动力学.北京:高等教育出版社, 2000:145~156
32. Texas Instruments, Implementation of A Speed Field Oriented Control of 3-phase PMSM Motor using TMS320F240. Application Report, SPRA588,1999:645~655
33.李军政,吕敬高,孙良友.永磁同步电动机磁场矢量控制.船舰技术,2005(4):4~6
34.李永东.交流电机数字控制系统.机械工业出版社, 2002:24~36
35. Shigeo Morimoto.Wide-Speed Operation of Interior Permanent MagnetSynchronous Motors with High-Performance Current Regulator.IEEEtransaction on industry applications. 2000,30(4):789~801
36.苏彦民,李宏.交流调速系统的控制策略.机械工业出版社,1998:189~200
37.姜飞荣.永磁同步电机伺服控制系统研究.浙江大学硕士学位论文,2006.3
38.许强,贾正春,李朗如.永磁同步电动机数字化电流控制方法.华中理工大学学报, 1997(2):44~46.
39. H.L.Huy, L.A.Dessaint. An Adaptive Current Control Scheme for PWMSynchronous Motor Drives: Analysis and Simulation, IEEE Trans. PowerElectron, 1989, vol.4(3):689~695
40.董高峰.浅析霍尔电流传感器的应用.自动化博览, 2005.2:15~17
41.王建宽,崔巍,江建中. SVPWM技术的理论分析及仿真.微特电机,2006.6:15~20
42. Yan Guo, Xiao Wang, H.C.Lee, Boon-Teck Ooi. Pole-Placement Control ofVoltage-Regulated PWM Rectifiers Through Real-Time Multiprocessing,IEEE Trans. Industrial Engineering, 1994,vol.41(2):224~230
43. Y.S.Zhou, L.Y.Lai. Optimal Design for Fuzzy Controllers by GeneticAlgorithms, IEEE Trans.Ind. 2000, vol.36(1):93~97.
44.秦忆,周永鹏.现代交流伺服系统.华中理工大学出版社, 1995:81~107
45.刘和平,王维俊,江渝,邓力等. TMS320LF240x DSP C语言开发应用.北京航空航天大学出版社, 2003:236~238
46.孔凡才等.自动控制原理与系统.机械工业出版社, 2006:60~78
2.陈荣.交流永磁同步伺服系统的现状与发展.电气时代, 2005.9:104~107
3.黄益群等.运动控制新技术.伺服控制, 2005.11:14~16
4. George Ellis, Zhiqiang Gao. Cures for Low-Frequency MechanicalResonance in Industrial Servo Systems. IEEE Industry Applications Society,2001.01:252~258
5.李久胜,王炎.基于滑模原理的鲁棒交流伺服控制器.哈尔滨工业大学学报, 2000.4:19~23
6.潘贵喜,陈治川,阮毅.可控加载装置的研究.电气传动自动化,2004.26(1):7~10
7.陈荣.永磁同步电机伺服系统研究.南京航空航天大学博士学位论文,2005:108~110
8.刘彦,马咏梅.多功能机械传动组合试验台的研制.中国测试技术,2003.11:23~24
9.陈小元,方凯,杨银贤.汽车制动器惯性试验台的系统设计与实现.电子技术, 2004.8:55~57
10.盛朝强,谢昭莉.基于电惯量的汽车惯性式制动试验系统的设计.重庆大学学报, 2005.1:90~92
11.张兴君.火炮伺服系统模拟负载系统的研制.南京理工大学硕士学位论文, 2004.2
12.张思弟,饶华球,李宏胜.伺服系统性能测试系统的开发研究.制造技术与机床, 2005.3:62~65
13. George Ellis, Robert D.Lorenz. Resonant Load Control Methods forIndustrial Servo Drives. IEEE Industry Applications Society, 2000.10:8~12
14.刘胜,彭侠夫,叶瑰昀.现代伺服系统设计.哈尔滨工程大学出版社,2001:90~101
15. George W.Younkin, William D.McGlasson, Robert D.Lorenz.Considerations for Low Inertia AC Drives in Machine Tool Axis ServoApplications. IEEE Transactions on Industry Applications,1991.02:262~267
16. G. Zhang and J. Furusho. Speed Control of Two-inertia System by PI/PIDControl. IEEE Trans. on Ind. Elec, Vol. 47, No. 3, 2000.
17. Guoguang Zhang, Junji Furusho, Makoto Kajitani. A New Design Method ofServo Drive System with Torsional Load. IEEE Industry Electronics Society,1998.07:1114~1119
18. Josko Deur. A Comparative Study of Servo Systems with AccelerationFeedback, Proc of IEEE IAS (Rome), 2000.9:462~467
19. Yung-Yaw Chen, Pai-Yi Huang, Jia-Yush Yen. Frequency-DomainIdentification Algorithms for Servo Systems With Friction. IEEETransactions on Control Systems Technology, 2002.10:654~665.
20. Hyung-Tae Moon, Hyun-Soo Kim, and Myung-Joong Youn. A Discrete-time Predictive Current Control for PMSM. proc. of IEEE on PowerElectronics, 2003.2:464~472.
21. Kenji Inoue, Mutsuo Nakaoka. Analysis and Design of AC Servo MotionDrive Control System with 2-Mass Mechanical Resonant Load. InternationalWorkshop on Advanced Motion Control, 1996.02:600~605
22. W.Z,Qian, S.K.Panda, J.X.Xu. Torque Ripple Minimization in PermanentMagent Synchronous Motors Using Iterative Learning Control. IEEE,Transactions on Power Electronics, 2004, 19(2):272~279.
23. Liu,Jui-Jung, Lee,Ya-Wei, Wang,Fu-Cheng. Time and Frequency DomainIdentification and Analysis of A Permanent Magnet Synchronous ServoMotor. Journal of the Chinese Institute of Engineers, 2006.07:683~695
24. D.Casadei, F.Profumo, G.Serra, A.Tani. FOC and DTC: Two ViableSchemes for Induction Motorstorque Control. IEEE Transactions on PowerElectronics, 2002, 17(5): 779~787.
25.阮成功.混合驱动调速系统的设计与研究.福州大学硕士学位论文,2006.5
26.江苏省海安兰菱磁粉制动器厂.磁粉离合器、制动器技术报告, 2003:79~87
27. Herman J, van de Straete, Joris de Schutter, Hybrid Cam Mechanisms.IEEE/ASME Transactions on Mechatronics,1996,1(4):284~289
28.张兴君.火炮伺服系统模拟负载系统的研究.南京理工大学硕士学位论文, 2004.2
29. H. Wertz, F. Schutte, Self-tuning Speed Control for Servo Drives withImperfect Mechanical Load, Proc of IEEE IAS (Rome), 2000.5:45~50
30. Y. Hori, H. Sawada, and Y. Chun, Slow Resonance Ratio Control forVibration Suppression and Disturbance Rejection in Torsional System, IEEETrans on Ind. Elec,Vol 45, No. 1, Feb 1999:345~356
31.张策.机械动力学.北京:高等教育出版社, 2000:145~156
32. Texas Instruments, Implementation of A Speed Field Oriented Control of 3-phase PMSM Motor using TMS320F240. Application Report, SPRA588,1999:645~655
33.李军政,吕敬高,孙良友.永磁同步电动机磁场矢量控制.船舰技术,2005(4):4~6
34.李永东.交流电机数字控制系统.机械工业出版社, 2002:24~36
35. Shigeo Morimoto.Wide-Speed Operation of Interior Permanent MagnetSynchronous Motors with High-Performance Current Regulator.IEEEtransaction on industry applications. 2000,30(4):789~801
36.苏彦民,李宏.交流调速系统的控制策略.机械工业出版社,1998:189~200
37.姜飞荣.永磁同步电机伺服控制系统研究.浙江大学硕士学位论文,2006.3
38.许强,贾正春,李朗如.永磁同步电动机数字化电流控制方法.华中理工大学学报, 1997(2):44~46.
39. H.L.Huy, L.A.Dessaint. An Adaptive Current Control Scheme for PWMSynchronous Motor Drives: Analysis and Simulation, IEEE Trans. PowerElectron, 1989, vol.4(3):689~695
40.董高峰.浅析霍尔电流传感器的应用.自动化博览, 2005.2:15~17
41.王建宽,崔巍,江建中. SVPWM技术的理论分析及仿真.微特电机,2006.6:15~20
42. Yan Guo, Xiao Wang, H.C.Lee, Boon-Teck Ooi. Pole-Placement Control ofVoltage-Regulated PWM Rectifiers Through Real-Time Multiprocessing,IEEE Trans. Industrial Engineering, 1994,vol.41(2):224~230
43. Y.S.Zhou, L.Y.Lai. Optimal Design for Fuzzy Controllers by GeneticAlgorithms, IEEE Trans.Ind. 2000, vol.36(1):93~97.
44.秦忆,周永鹏.现代交流伺服系统.华中理工大学出版社, 1995:81~107
45.刘和平,王维俊,江渝,邓力等. TMS320LF240x DSP C语言开发应用.北京航空航天大学出版社, 2003:236~238
46.孔凡才等.自动控制原理与系统.机械工业出版社, 2006:60~78