基于CPLD伺服系统的速度测量及抗干扰技术

发布时间：2018-04-23 03:24

本文选题：CPLD + 速度测量　；参考：《沈阳工业大学》2017年硕士论文

【摘要】：现代高精度伺服控制系统的关键技术之一就是传感器的反馈精度。速度测量的准确性直接影响了伺服系统的稳定性和控制精度。增量式光电编码器是目前伺服系统中使用最广泛的传感器,编码器的线数越多,价格越高。而且编码器信号中存在的干扰信号直接影响了速度测量的准确性。本文着重研究伺服系统速度测量及反馈信号的抗干扰方法,在低线数的增量编码器的基础上,达到与高精度编码器相同的测速精度,提高系统性能。首先,详细了解编码器的工作原理以及通用的测速方法,并研究国内外测速方法的现状。本文对高速、高精度、连续测量方案进行改进,加快测速结果的更新速率,解决低速时采集多个编码器脉冲引起的速度更新慢的问题。详细介绍了改进的高速、高精度、连续测量方案原理及其在CPLD中的实现方法,并在Quartus II 9.0软件中完成了编译、综合和仿真。通过仿真结果可知,该方法的测速结果精度高,更新速率快,并且实现方法简单可靠。其次,了解伺服系统速度反馈信号中的干扰来源以及国内外抗干扰方法的研究现状。详细分析各类干扰信号的特点,对所有的干扰信号进行归纳、总结与分类。本文针对无伪干扰脉冲的干扰信号、码盘缝隙边缘引起的边缘干扰信号以及反方向含伪干扰脉冲的干扰信号提出抗干扰方法,详细介绍了抗干扰原理以及在CPLD中的实现方法,并完成编译、综合和仿真。通过仿真结果可知,该抗干扰方法可以很好的滤除速度反馈信号上包含的无伪干扰脉冲的干扰信号、码盘缝隙边缘引起的边缘干扰信号以及反方向含伪干扰脉冲的干扰信号,为速度测量提供可靠的反馈信号,实现方法简单可靠。最后,搭建实验平台进行验证。通过实验表明:在不同的编码器信号频率下,该抗干扰电路可以滤除编码器信号中包含的无伪干扰脉冲的干扰信号、码盘缝隙边缘引起的边缘干扰信号和反方向含伪干扰脉冲的干扰信号,且信号的延时基本为0,同时可以提高速度测量结果的精度;在测量2500线的普通增量式光电编码器的转速时,可以在5-2000r/min的范围内达到高精度的编码器的测速精度,而且并不影响低速范围内的更新速度。综上所述,本文采用的测速方法及反馈信号的抗干扰方法可以在伺服系统中发挥一定的作用。
[Abstract]:One of the key technologies of modern high-precision servo control system is the feedback accuracy of sensors. The accuracy of velocity measurement directly affects the stability and control accuracy of servo system. Incremental photoelectric encoder is the most widely used sensor in servo system. Moreover, the accuracy of speed measurement is directly affected by the interference signal in encoder signal. In this paper, the anti-interference method of speed measurement and feedback signal of servo system is studied. On the basis of incremental encoder with low line number, the speed measurement accuracy of high precision encoder is the same as that of high precision encoder, and the system performance is improved. Firstly, the working principle of encoder and the general speed measurement method are discussed in detail, and the present situation of speed measurement methods at home and abroad is studied. In this paper, the scheme of high speed, high precision and continuous measurement is improved to speed up the update rate of velocity measurement results, and to solve the problem of slow speed update caused by collecting multiple encoder pulses at low speed. The principle of the improved high speed, high precision and continuous measurement scheme and its implementation in CPLD are introduced in detail. The compilation, synthesis and simulation are completed in Quartus II 9.0 software. The simulation results show that this method has the advantages of high accuracy, fast updating rate and simple and reliable method. Secondly, the source of interference in speed feedback signal of servo system and the research status of anti-jamming methods at home and abroad are understood. The characteristics of all kinds of interference signals are analyzed in detail, and all interference signals are summarized, summarized and classified. In this paper, an anti-jamming method is proposed for the interference signal of no pseudo-interference pulse, the edge interference signal caused by the edge of the code disk slot and the interference signal with false interference pulse in the reverse direction. The anti-jamming principle and the realization method in CPLD are introduced in detail. And complete compilation, synthesis and simulation. The simulation results show that the anti-jamming method can filter the interference signal of the non-pseudo-interference pulse, the edge interference signal caused by the edge of the code disk slot and the interference signal with the false interference pulse in the reverse direction. It provides reliable feedback signal for velocity measurement, and the method is simple and reliable. Finally, the experimental platform is built for verification. The experimental results show that the anti-jamming circuit can filter the interference signal of the encoder signal without pseudo-interference pulse under different encoder signal frequency. The edge interference signal caused by the slot edge of the code disk and the interference signal with false interference pulse in the reverse direction, the delay of the signal is basically 0, and the accuracy of the speed measurement result can be improved. When measuring the rotational speed of the ordinary incremental photoelectric encoder with 2500 lines, the speed measurement accuracy of the high precision encoder can be achieved in the range of 5-2000r/min, and the update speed in the low speed range is not affected. In conclusion, the speed measurement method and the feedback signal anti-jamming method can play a role in the servo system.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM921.541

【参考文献】