自整定嵌入式运动控制模块设计
发布时间：2018-08-12 19:04
【摘要】：直线电机在例如物流系统、工业设备、交通与民用以及自动化系统等领域的应用日益广泛,直线电机已成为一个关注热点。而直线电机的运动控制器是其性能好坏的非常重要的一个环节。本论文针对直线电机的嵌入式运动控制器开发展开研究,提出了一套完整的自整定嵌入式运动控制模块设计方案。建立直线电机动力学模型,设计离线与在线参数辨识算法,采用一阶的LTI滤波器减小高频噪声影响,在MATLAB/Simulink中进行恒定参数与变化参数的辨识仿真和验证。运动控制算法设计方面,采用了非线性自适应鲁棒控制算法实现精密运动控制,并结合在线参数辨识算法以实现系统参数与控制器参数的自整定功能,在Simulink进行正弦响应与设计的参考轨迹响应仿真,对所提方法进行了验证。硬件方面以C6748DSP芯片为核心运动控制处理器,通过外围接口电路设计,搭建直线电机运动控制模块。软件程序的开发方面,首先对反馈脉冲捕捉子模块、外部存储接口子模块、定时器子模块和输入输出子模块等模块程序进行开发并在直流减速电机上进行各个模块功能调试,结合本课题对DSP程序开发的流程做了详细介绍,然后对包含PID与自适应鲁棒控制(Adaptive Robust Control)算法的整体运动控制程序进行编写调试。然后结合各个功能子模块对直线电机进行了参数辨识实验,最后完成直线电机基于PID和ARC控制算法的嵌入式运动控制器的试验测试和结果比较。
[Abstract]:Linear motor has been widely used in many fields, such as logistics system, industrial equipment, transportation and civil and automation system. Linear motor has become a focus of attention. The motion controller of linear motor is a very important part of its performance. This paper aims at the development of embedded motion controller of linear motor. A complete design scheme of self-tuning embedded motion control module is proposed. The dynamic model of linear motor is established, and the off-line and on-line parameter identification algorithms are designed. The first-order LTI filter is used to reduce the influence of high-frequency noise. The constant and variable parameters are identified and verified in MATLAB/Simulink. In the design of control algorithm, nonlinear adaptive robust control algorithm is used to realize precise motion control, and on-line parameter identification algorithm is used to realize the self-tuning function of system parameters and controller parameters. Simulink is used to simulate the sinusoidal response and the reference trajectory response of design, and the proposed method is verified by C674 in hardware. 8 DSP chip is the core of the motion control processor, through the design of peripheral interface circuit, the motion control module of linear motor is built. The function debugging of each module is carried out, and the process of DSP program development is introduced in detail. Then the whole motion control program including PID and Adaptive Robust Control algorithm is compiled and debugged. The test results of the embedded motion controller of linear motor based on PID and ARC control algorithm are compared.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273
本文编号：2180022
[Abstract]:Linear motor has been widely used in many fields, such as logistics system, industrial equipment, transportation and civil and automation system. Linear motor has become a focus of attention. The motion controller of linear motor is a very important part of its performance. This paper aims at the development of embedded motion controller of linear motor. A complete design scheme of self-tuning embedded motion control module is proposed. The dynamic model of linear motor is established, and the off-line and on-line parameter identification algorithms are designed. The first-order LTI filter is used to reduce the influence of high-frequency noise. The constant and variable parameters are identified and verified in MATLAB/Simulink. In the design of control algorithm, nonlinear adaptive robust control algorithm is used to realize precise motion control, and on-line parameter identification algorithm is used to realize the self-tuning function of system parameters and controller parameters. Simulink is used to simulate the sinusoidal response and the reference trajectory response of design, and the proposed method is verified by C674 in hardware. 8 DSP chip is the core of the motion control processor, through the design of peripheral interface circuit, the motion control module of linear motor is built. The function debugging of each module is carried out, and the process of DSP program development is introduced in detail. Then the whole motion control program including PID and Adaptive Robust Control algorithm is compiled and debugged. The test results of the embedded motion controller of linear motor based on PID and ARC control algorithm are compared.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273
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