基于STM32的交流永磁同步伺服控制系统的设计与研究

发布时间：2018-06-19 21:02

  本文选题：永磁同步电机 + STM32　； 参考：《西安建筑科技大学》2016年硕士论文

【摘要】：随着信息技术与智慧技术的结合,推动了制造业向智能化发展转型,重点就是突破智能机器人核心技术,攻克传感器、伺服驱动器等关键零部件。高效和精确的伺服驱动器可以引导机器人精密操作,有效降低在生产过程中的生产误差,这对伺服控制系统提出了更高的要求。本文主要任务是以为控制核心,采用空间矢量脉宽调制()结合矢量控制的原理,搭建电流环、速度环和位置环的三闭环交流永磁同步伺服控制系统,主要工作内容包括:首先,介绍永磁同步电机的原理、坐标变换和空间矢量脉宽调制技术等相关知识,在此基础上建立基于坐标系的交流永磁同步电机伺服控制系统数学模型,并最终选取了基于的转子磁场定向控制方式,确立了基于的三闭环伺服控制系统的实施方案。其次,针对系统快速性、稳定性和定位精度等性能要求,设计了基于的三闭环伺服控制系统。为了提高系统快速性和定位精度,电流环和速度环分别采用控制,而位置环则采用模糊自适应控制的控制策略。并在中建立数学模型,并重点说明矢量控制算法。同时针对系统性能的要求,分别进行电流环、速度环和位置环仿真实验,同时讨论系统的动态响应问题。然后,依据仿真得出的结果,设计了基于伺服控制系统软硬件平台,硬件主要包括主电路、功率驱动电路、电流检测、位置脉冲检测电路和控制电源等;在!开发环境下采用"语言为主体的编程方式进行永磁同步电机伺服控制系统的软件的开发。最后,对系统的各模块进行调试,并利用示波器和等辅助软件对系统性能进行分析,结果表明,基于的三闭环伺服控制系统能够满足高性能伺服系统的快速性、稳定性和定位精度等基本控制要求,为后续更进一步研究奠定基础。
[Abstract]:With the combination of information technology and intelligent technology, the manufacturing industry has been transformed to intelligent development. The emphasis is to break through the core technology of intelligent robot, conquer the key parts such as sensors, servo drivers and so on. The high efficiency and precision servo driver can guide the robot to operate precisely and reduce the production error effectively, which puts forward higher request to the servo control system. The main task of this paper is to set up three closed-loop AC PMSS servo control systems, which are current loop, velocity loop and position loop, using space vector pulse width modulation (SVPWM) combined with the principle of vector control. The main work includes: first of all, This paper introduces the principle of permanent magnet synchronous motor (PMSM), coordinate transformation and space vector pulse width modulation (SVPWM) technology. On this basis, the mathematical model of AC PMSM servo control system based on coordinate system is established. Finally, based on the rotor flux oriented control method, the implementation scheme of the three-loop servo control system based on the three-loop servo control system is established. Secondly, a three-loop servo control system based on three-loop servo control is designed to meet the requirements of system speed, stability and positioning accuracy. In order to improve the system speed and positioning accuracy, the current loop and the velocity loop are controlled respectively, while the position loop adopts the fuzzy adaptive control strategy. The mathematical model is established in this paper, and the vector control algorithm is emphasized. At the same time, the simulation experiments of current loop, velocity loop and position loop are carried out to meet the requirements of system performance. The dynamic response of the system is also discussed. Then, according to the simulation results, the hardware and software platform based on servo control system is designed. The hardware includes main circuit, power drive circuit, current detection, position pulse detection circuit and control power supply. The software of PMSM servo control system is developed by using language as the main programming method in the development environment. Finally, every module of the system is debugged, and the performance of the system is analyzed by oscilloscope and iso-auxiliary software. The results show that the three-loop servo control system based on the three-loop servo control system can satisfy the high performance servo system's rapidity. The basic control requirements such as stability and positioning accuracy lay a foundation for further study.
【学位授予单位】：西安建筑科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM341;TM921.541
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本文编号：2041251