扰动抑制方法在伺服电机控制中的应用研究

发布时间：2018-03-07 00:07

本文选题：伺服电机　切入点：基于干扰观测器的控制　出处：《北京交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：在实际的工业系统中,外界干扰是广泛存在的。因此,在控制器的设计过程中,扰动抑制是一个不可避免的问题。针对不同的干扰信号,设计控制策略实现系统面向性能的控制,是当前控制领域亟待解决的热点。本文以直流伺服电机作为研究对象,在受到外界扰动的情况下,设计了面向性能的控制算法实现对电机的控制。最后通过理论分析和实验装置验证了此算法的有效性。首先,建立并简化了在电枢电压控制下直流伺服电机的数学模型。针对模型中存在的两个未知参数,采用最小二乘法进行辨识,得到了电机准确的数学模型,为后续的控制器设计提供基础。其次,针对辨识出来的直流伺服电机数学模型,从理论的角度验证了扰动抑制方法的有效性。本文采用了基于干扰观测器的控制(简称DOBC)方法观测出电机受到的扰动信号,然后结合反演控制(Backstepping)方法设计出面向性能的控制律,通过理论分析证明了该方法的有效性。最后选取了两种常见的干扰信号,通过MATLAB数值仿真验证了该方法的有效性。为研究扰动抑制方法在伺服电机中的应用,需产生合适的干扰信号,本文搭建了一个基础信号源实验平台。此平台主要采用51单片机来控制AD9850芯片,使其产生频率可调的信号,并且信号的相关信息通过LCD1602显示出来。搭建出来的信号源频率范围在1Hz—10MHz之间,可以满足工业实践对基础扰动信号的需要。再次,本文还搭建了一套完整的直流伺服电机系统,主控芯片采用的是STM32F103C8T6芯片,目的是从实验的角度验证扰动抑制方法的作用。将基础信号源平台产生的干扰信号加入到伺服电机的实验平台,再将DOBC方法和反演控制方法相结合,设计出合适的控制律,对伺服电机实现面向性能的控制。实验结果表明,扰动抑制方法在伺服电机中取得了良好的控制效果。最后,对全文工作做了总结以及对未来工作的展望。
[Abstract]:In the actual industrial systems, interference is widespread. Therefore, in the design process of the controller, the disturbance rejection is an unavoidable problem. For different signal interference, the design of control system for control performance, is a hotspot in control field to be solved. This paper uses DC servo motor as the object of study, is subjected to external disturbance, the design of the control algorithm oriented to realize the performance of motor control. Finally, the effectiveness of this algorithm is verified by theoretical analysis and experimental device. First of all, to establish and simplify the mathematical model under the control of the armature voltage of DC servo motor. According to the two unknown parameters model in the presence of identification was carried out by using the least square method, the mathematical model of the motor accurately, and provide the basis for the follow-up controllerdesign. Secondly, for the identification of DC. The servo motor mathematical model, effective disturbance rejection method is proved in theory. This paper adopts control based on disturbance observer (DOBC) method observe the disturbance signal is then combined with the motor, backstepping control (Backstepping) method was designed to control law can, through theoretical analysis proves the validity of this methods. We finally select two kinds of interference signal, through the MATLAB numerical simulation to verify the effectiveness of the method. The application of disturbance suppression method in servo motor, generate the appropriate interrupt signal, this paper built a basic signal source experimental platform. This platform mainly uses 51 single-chip microcomputer to control AD9850 the chip to produce frequency adjustable, display the relevant information and signal by LCD1602. Build the signal source in the frequency range of 1Hz 10MHz, can be full of On the basis of practice into the industrial need disturbance signal. Thirdly, this paper also built a complete set of DC servo motor system, the main chip is STM32F103C8T6 chip, the purpose is from the perspective of experimental verification method for disturbance rejection effect. The interference signal based signal source platform is added to the experimental platform for the servo motor the combination of DOBC method and the inversion control method, design the appropriate control law, the control oriented to realize the performance of servo motor. The experimental results show that the disturbance rejection method has achieved good control effect of the servo motor. Finally, summarizes and prospects for the future work.

【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM383.41

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