双轴交流伺服系统消隙及同步控制方法研究
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摘要
天线伺服系统是雷达以及其他跟踪设备的重要组成部分,它驱动雷达转台使其按照给定指令运动,从而实现雷达的定位、测角等功能。由于雷达转台负载往往较大,且传动链中存在齿隙等非线性因素的影响,为了实现高精度、高速度且稳定性好的的天线伺服控制,常采用双轴联动驱动的方式。本文对这种采用双轴结构伺服系统的同步控制及消隙方法进行了研究。
首先对齿隙和同步问题以及相关技术的研究现状进行了概要的介绍,描述了典型天线伺服系统的控制模型结构,详细讨论了双轴联动消除齿隙和同步控制的理论方法;然后利用MATLAB/SIMULINK分别建立了交流伺服系统仿真模型、含齿隙非线性因素的齿轮传动环节仿真模型以及消隙功能模块的仿真模型;分别验证了同步和消隙方法的正确性、有效性,同时也提出了两种方法的综合控制问题,设计了一种耦合性质的综合控制策略,并且仿真验证了这种综合控制策略的可行性,为实际应用提供设计依据;最后在双轴交流伺服驱动器平台上设计实现了同步控制及消隙控制方法。
本文所探讨的双轴伺服驱动建模方法、消隙与同步控制策略以及软件设计方法具有较好的通用性、实时性,可用于不同型号的双轴雷达伺服平台,也可应用于工业领域的双轴驱动应用场合。
Antenna servo system is an important device in radar and other tracking equipments, which rotates the radar platform to track the given commands and implement the functions of the radar system such as location and angle measurement. In some practice, dual-axis servo system needs to be generally used for antenna driving system to achieve high precision, high speed and high stability. Considering that the radar rotating platform always have heavy load, and also there are nonlinear factors exist in the transmission chain, the theory and technology of synchronous control and anti-backlash based on the dual-axis servo system has been researched in this thesis.
The application problem and introduced recent research status of the backlash nonlinearity and synchronization problem has been described in this thesis, including the typical control model of the antenna servo system, and then the principles of anti-backlash and synchronous control based on dual-axis servo system has been analyzed in detail. Then the models of AC PMSM servo system, gear transmission system with backlash nonlinearity and the function module of anti-backlash were respectively set-up in Matlab/Simulink environment. The simulation results verified the validity of anti-backlash and synchronous control strategies based on dual-axis system. Meanwhile, the problem on how to integrate the two kinds of control was considered and a coupled integrative control was designed and simulated to approve the feasibility to supply a good direction for the practice. In the end, the software modules of anti-backlash and synchronous control method were designed on the dual-axis ac servo platform.
The method building the dual-axis servo system simulation model, the algorithm of anti-backlash and synchronous control, the procedure of software could be general used in different types of dual-axis radar servo platform. In the same time, they could be considered in dual-axis servo driving application in industry.
首先对齿隙和同步问题以及相关技术的研究现状进行了概要的介绍,描述了典型天线伺服系统的控制模型结构,详细讨论了双轴联动消除齿隙和同步控制的理论方法;然后利用MATLAB/SIMULINK分别建立了交流伺服系统仿真模型、含齿隙非线性因素的齿轮传动环节仿真模型以及消隙功能模块的仿真模型;分别验证了同步和消隙方法的正确性、有效性,同时也提出了两种方法的综合控制问题,设计了一种耦合性质的综合控制策略,并且仿真验证了这种综合控制策略的可行性,为实际应用提供设计依据;最后在双轴交流伺服驱动器平台上设计实现了同步控制及消隙控制方法。
本文所探讨的双轴伺服驱动建模方法、消隙与同步控制策略以及软件设计方法具有较好的通用性、实时性,可用于不同型号的双轴雷达伺服平台,也可应用于工业领域的双轴驱动应用场合。
Antenna servo system is an important device in radar and other tracking equipments, which rotates the radar platform to track the given commands and implement the functions of the radar system such as location and angle measurement. In some practice, dual-axis servo system needs to be generally used for antenna driving system to achieve high precision, high speed and high stability. Considering that the radar rotating platform always have heavy load, and also there are nonlinear factors exist in the transmission chain, the theory and technology of synchronous control and anti-backlash based on the dual-axis servo system has been researched in this thesis.
The application problem and introduced recent research status of the backlash nonlinearity and synchronization problem has been described in this thesis, including the typical control model of the antenna servo system, and then the principles of anti-backlash and synchronous control based on dual-axis servo system has been analyzed in detail. Then the models of AC PMSM servo system, gear transmission system with backlash nonlinearity and the function module of anti-backlash were respectively set-up in Matlab/Simulink environment. The simulation results verified the validity of anti-backlash and synchronous control strategies based on dual-axis system. Meanwhile, the problem on how to integrate the two kinds of control was considered and a coupled integrative control was designed and simulated to approve the feasibility to supply a good direction for the practice. In the end, the software modules of anti-backlash and synchronous control method were designed on the dual-axis ac servo platform.
The method building the dual-axis servo system simulation model, the algorithm of anti-backlash and synchronous control, the procedure of software could be general used in different types of dual-axis radar servo platform. In the same time, they could be considered in dual-axis servo driving application in industry.
引文
[1]陈宗骘,赵昌龄,董光明.现代雷达.北京:国防工业出版社, 1988
[2]李建军,尹华杰.雷达伺服系统发展现状及趋势分析.中国雷达, 2007,3(7):24~39
[3]刘世挺.雷达伺服控制技术的新发展.火控雷达技术, 2002,1(31);33~35
[4]赵泓滨.大型雷达天线结构中的传动链.电子机械工程, 2003,19(5):18~20
[5] L.C.Hale, H.Slocuma. Design of an Anti-backlash transmission for precision position control systems. Precision Engineering, 1994,16(4):244~258
[6]邓先荣.天线伺服系统多电机同步控制方法.现代雷达, 2005,27(6):45~47
[7]赖天华.高精度伺服传动系统的设计与实践——双轴驱动的伺服传动系统的设计与探讨.电子机械工程, 1996(4): 46~49
[8]李丹.传动装置齿隙位置对伺服系统的影响.重型机械科技, 2004,2:26~31
[9]赵建周,何超,张宇河.伺服系统间隙非线性补偿算法的研究.北京理工大学学报, 2000,20(3):317~320
[10]赵国峰,宋杨,郭健,胡维礼.基于时间次优补偿的齿隙非线性系统的切换控制.兵工学报, 2006,27(2):325~329
[11] D.R.Seaward, R.C.Johson. Replacement of Mechanical Transmissions by Synchronised Variable Electrical Speed Drives. Proc. of 4th Int Conf. Elec. Mach. and Drives, 1989, 364~368
[12] Alexander L.Fradkov, Hiya V, Miroshnik, Vladimir O.Nikiforov. Nonlinear and Adaptive Control of Complex Systems. Automatic, 2004,40(4):709~710
[13]刘福才,张学莲,刘立伟.多级电机传动系统同步控制理论与应用研究.控制工程, 2002, 9(4):87~89
[14] William E.Jewell, Garrett Fitzgerald. Multi-mo-tor Drives with AC Motors. The Magazine of Industrial and Control, 1981,23(1):136~143
[15] E.Blauenstein. Electrical Equipment for a Rubber Calender Line in a TyreManufacturing Plant. Brown Boveri Review, 1973,60(1):15~23
[16] ODA Mitsushige. Motion Control of the Satellite Mounted Robot arm Which Assures Satellite Attitude Stability. Acta Astronautica, 1997,41(11):739~750
[17]陶佳安.高性能天线伺服控制器的研究与设计.测控技术, 2008, 27(6):44~46
[18]邹丽娟.基于Matlab/Simulink的测量雷达伺服系统的方针方法.现代雷达, 2004, 26(8):64~67
[19]王海红.雷达伺服系统的结构/控制一体化设计.西安电子科技大学硕士学位论文, 2008.1
[20]双轴消隙伺服系统.桂林星辰公司
[21] P.J.Clarkson, P.P.Acarnley. PhD Instabilities in Dual Stepping Motor Systems. Journal of the Institution of Electronic and RadioEngineers, 1987,57(5):200~206
[22]黄磊.基于双电机驱动系统的间隙消除技术研究.华中科技大学硕士学位论文, 2007.2
[23] Mattias Nordin, Per-Olof Gutman. Controlling Mechanical Systems with Backlash-A Survey. Automatic , 2002(38):1633~1649
[24] Nizar J.Ahmad. Robust Adaptive Control and Applications to Friction and Backlash Compensation. [PhD dissertation], Polytechnic University, 1998
[25] Julian Andrew. Modeling of Dynamic Friction, Impact Backlash and Elastic Compliance Nonlinearities in Machine Tools, with Applications to Asymmetric Viscous and Kinetic Friction Identification. [PhD dissertation], Rensselaer Polytechnic Institute , 1998
[26]赵海波.双轴同步联动伺服系统的设计与分析.南京理工大学硕士学位论文, 2006.7
[27] Jing Chen, Qiang Liu, Chang Qi. A Synchronous Drive Control Scheme Based on Neural Networks for a Novel XY-table. International Conference on Automation and Logistics, Jinan, China, August 18-21,2007, 2355~2360
[28] G.F.Zhao, G.L.Ma, J.Guo, W.L.Hu. Adaptive Synchronous Control of Servo System Driven by Two Motors. 8th International Conference on Control, Automation, Robotics and Vision, Kunming, China, December 6-9, 2004, 1990~1993
[29] Hyun C.Lee, Gi J.Jeon. A Neuro-controller for Synchronization of two motion axes. International Journal of Intelligent Systems, 1998,13(6):571~586
[30] M.Tomizuka, J.Hu, T.Chiu. Synchronization of two motion control axes under adaptive feedforward control. ASME Journal of Dynamic Systems, Measurement and Control,1992,114(6):196~203
[31] J.H.Yun, I.H.Suh, Y.S.Shin, G.H.Kim. Synchronizing Control of Multiple DC Motors. KIEE Summer Annual Conference, 1990, 475~479
[32]秦忆等.现代交流伺服系统.武汉:华中理工大学出版社, 1995
[33]陈伯时.电力拖动自动控制系统(第二版).北京:机械工业出版社, 1999
[34] Texas Instruments. Implementation of Vector Control for PMSM Using the TMS320F240 DSP(SPRA494), 1998
[35] Texas Instruments. Implementation of Speed Field Oriented Control of 3-Phase PMSM Motor Using TMS320LF240(SPRA588), 1999
[36] T.J.Yeh, Y.C.Pan. Modeling and Identification of Opto-Mechanical Coupling and Backlash Nonlinearity in Optical Disk Drives. IEEE Transactions on Consumer Electronics, 2000,46(1):105~115
[37] W.Gawronski, J.Brandt, H.Ahlstrom, E.Maneri. Torque-Bias Profile for Improved Tracking of the Deep Space Network Antennas. IEEE Antennas and Propagation Magazine, 2000,42(6):35~45
[38]武汉华中数控股份有限公司.华中数控hsv162型伺服使用手册, 2007
[39]赵云,李叶松.双轴交流同步电机伺服系统设计.电力电子技术, 2009,43(3):36~38
[40]刘和平,严利平,张学锋等. TMS320LF240x DSP结构、原理及应用.北京:北京航空航天大学出版社, 2002
[41] Texas Instruments. TMS320LF/24X DSP Controllers CPU and Instruction Set Reference Guide (SUPR160), 1999
[42] Texas Instruments. TMS320LF-LC240xA System and Peripherals (SPRU357b), 2001
[2]李建军,尹华杰.雷达伺服系统发展现状及趋势分析.中国雷达, 2007,3(7):24~39
[3]刘世挺.雷达伺服控制技术的新发展.火控雷达技术, 2002,1(31);33~35
[4]赵泓滨.大型雷达天线结构中的传动链.电子机械工程, 2003,19(5):18~20
[5] L.C.Hale, H.Slocuma. Design of an Anti-backlash transmission for precision position control systems. Precision Engineering, 1994,16(4):244~258
[6]邓先荣.天线伺服系统多电机同步控制方法.现代雷达, 2005,27(6):45~47
[7]赖天华.高精度伺服传动系统的设计与实践——双轴驱动的伺服传动系统的设计与探讨.电子机械工程, 1996(4): 46~49
[8]李丹.传动装置齿隙位置对伺服系统的影响.重型机械科技, 2004,2:26~31
[9]赵建周,何超,张宇河.伺服系统间隙非线性补偿算法的研究.北京理工大学学报, 2000,20(3):317~320
[10]赵国峰,宋杨,郭健,胡维礼.基于时间次优补偿的齿隙非线性系统的切换控制.兵工学报, 2006,27(2):325~329
[11] D.R.Seaward, R.C.Johson. Replacement of Mechanical Transmissions by Synchronised Variable Electrical Speed Drives. Proc. of 4th Int Conf. Elec. Mach. and Drives, 1989, 364~368
[12] Alexander L.Fradkov, Hiya V, Miroshnik, Vladimir O.Nikiforov. Nonlinear and Adaptive Control of Complex Systems. Automatic, 2004,40(4):709~710
[13]刘福才,张学莲,刘立伟.多级电机传动系统同步控制理论与应用研究.控制工程, 2002, 9(4):87~89
[14] William E.Jewell, Garrett Fitzgerald. Multi-mo-tor Drives with AC Motors. The Magazine of Industrial and Control, 1981,23(1):136~143
[15] E.Blauenstein. Electrical Equipment for a Rubber Calender Line in a TyreManufacturing Plant. Brown Boveri Review, 1973,60(1):15~23
[16] ODA Mitsushige. Motion Control of the Satellite Mounted Robot arm Which Assures Satellite Attitude Stability. Acta Astronautica, 1997,41(11):739~750
[17]陶佳安.高性能天线伺服控制器的研究与设计.测控技术, 2008, 27(6):44~46
[18]邹丽娟.基于Matlab/Simulink的测量雷达伺服系统的方针方法.现代雷达, 2004, 26(8):64~67
[19]王海红.雷达伺服系统的结构/控制一体化设计.西安电子科技大学硕士学位论文, 2008.1
[20]双轴消隙伺服系统.桂林星辰公司
[21] P.J.Clarkson, P.P.Acarnley. PhD Instabilities in Dual Stepping Motor Systems. Journal of the Institution of Electronic and RadioEngineers, 1987,57(5):200~206
[22]黄磊.基于双电机驱动系统的间隙消除技术研究.华中科技大学硕士学位论文, 2007.2
[23] Mattias Nordin, Per-Olof Gutman. Controlling Mechanical Systems with Backlash-A Survey. Automatic , 2002(38):1633~1649
[24] Nizar J.Ahmad. Robust Adaptive Control and Applications to Friction and Backlash Compensation. [PhD dissertation], Polytechnic University, 1998
[25] Julian Andrew. Modeling of Dynamic Friction, Impact Backlash and Elastic Compliance Nonlinearities in Machine Tools, with Applications to Asymmetric Viscous and Kinetic Friction Identification. [PhD dissertation], Rensselaer Polytechnic Institute , 1998
[26]赵海波.双轴同步联动伺服系统的设计与分析.南京理工大学硕士学位论文, 2006.7
[27] Jing Chen, Qiang Liu, Chang Qi. A Synchronous Drive Control Scheme Based on Neural Networks for a Novel XY-table. International Conference on Automation and Logistics, Jinan, China, August 18-21,2007, 2355~2360
[28] G.F.Zhao, G.L.Ma, J.Guo, W.L.Hu. Adaptive Synchronous Control of Servo System Driven by Two Motors. 8th International Conference on Control, Automation, Robotics and Vision, Kunming, China, December 6-9, 2004, 1990~1993
[29] Hyun C.Lee, Gi J.Jeon. A Neuro-controller for Synchronization of two motion axes. International Journal of Intelligent Systems, 1998,13(6):571~586
[30] M.Tomizuka, J.Hu, T.Chiu. Synchronization of two motion control axes under adaptive feedforward control. ASME Journal of Dynamic Systems, Measurement and Control,1992,114(6):196~203
[31] J.H.Yun, I.H.Suh, Y.S.Shin, G.H.Kim. Synchronizing Control of Multiple DC Motors. KIEE Summer Annual Conference, 1990, 475~479
[32]秦忆等.现代交流伺服系统.武汉:华中理工大学出版社, 1995
[33]陈伯时.电力拖动自动控制系统(第二版).北京:机械工业出版社, 1999
[34] Texas Instruments. Implementation of Vector Control for PMSM Using the TMS320F240 DSP(SPRA494), 1998
[35] Texas Instruments. Implementation of Speed Field Oriented Control of 3-Phase PMSM Motor Using TMS320LF240(SPRA588), 1999
[36] T.J.Yeh, Y.C.Pan. Modeling and Identification of Opto-Mechanical Coupling and Backlash Nonlinearity in Optical Disk Drives. IEEE Transactions on Consumer Electronics, 2000,46(1):105~115
[37] W.Gawronski, J.Brandt, H.Ahlstrom, E.Maneri. Torque-Bias Profile for Improved Tracking of the Deep Space Network Antennas. IEEE Antennas and Propagation Magazine, 2000,42(6):35~45
[38]武汉华中数控股份有限公司.华中数控hsv162型伺服使用手册, 2007
[39]赵云,李叶松.双轴交流同步电机伺服系统设计.电力电子技术, 2009,43(3):36~38
[40]刘和平,严利平,张学锋等. TMS320LF240x DSP结构、原理及应用.北京:北京航空航天大学出版社, 2002
[41] Texas Instruments. TMS320LF/24X DSP Controllers CPU and Instruction Set Reference Guide (SUPR160), 1999
[42] Texas Instruments. TMS320LF-LC240xA System and Peripherals (SPRU357b), 2001