高带宽位置随动伺服系统研究

发布时间：2018-09-04 14:13

【摘要】：在现代工厂的自动化生产与加工过程中,永磁同步交流伺服系统被日益广泛的使用。尤其当伺服系统工作在位置随动模式下,快速的跟随性能和较高的稳态精度,是位置伺服的最为突出的特点,也是评价伺服系统性能的重要指标。因此,减少伺服的跟踪误差,提高伺服系统的稳态精度,抑制定位时的抖振,是现阶段中高端伺服产品性能的发展趋势,也是本领域的研究方向。本文主要解决位置伺服控制存在的两个基本问题:一是快速跟随问题,目标是使控制对象最快速地跟随期望的位置轨迹;二是抖振抑制问题,目标是抑制控制对象在跟随和定位过程中所产生的抖振,并且同时要消除抑制所引起的相角滞后。这两个问题,在刚性负载和弹性负载伺服系统中都存在。在刚性负载条件下,位置伺服的谐振主要由控制器参数不合理所引起,本文首先对系统位置环和速度环控制器进行整定,解决谐振问题;在此基础上,采用一种零相角误差跟随控制器ZPETC(Zero Phase Error Tracking Contro ller)来减小跟随误差,并在仿真平台分别初步验证两种解决方法的有效性。在弹性负载条件下,弹性连接装置会为系统引入抖振点。采用传统的陷波滤波器虽然能抑制谐振,但会为系统引入相角误差,降低系统的跟随性能。本文采用一种零相角误差陷波滤波器ZPNF(Zero Phase-error Notch Filter)来抑制定位抖振并同时减小相角滞后,最后结合ZPETC,得到最优的控制效果,解决这两个问题,并在仿真平台上初步验证算法的有效性。最终分别在刚性和弹性实物实验平台上,对参数整定结合ZPETC、ZPNF结合ZPETC解决跟随与抖振问题的有效性进行验证。实现了在抑制抖振的同时提高系统的响应速度,减小了跟踪误差。
[Abstract]:Permanent magnet synchronous AC servo system is widely used in modern factory automation production and processing process. Especially when the servo system works in the position following mode, it is the most outstanding characteristic of the position servo system that it has fast following performance and high steady-state precision. It is also an important index to evaluate the performance of the servo system. Therefore, reducing the tracking error of servo, improving the steady-state precision of servo system and suppressing buffeting in positioning are the development trend of the performance of high-end servo products at this stage, and also the research direction in this field. This paper mainly solves two basic problems of position servo control: one is the fast following problem, the other is the chattering suppression problem, which aims to make the control object follow the desired position trajectory as quickly as possible. The aim is to suppress the chattering produced by the object in the process of following and locating, and at the same time to eliminate the phase lag caused by the suppression. These two problems exist in rigid load servo system and elastic load servo system. Under the condition of rigid load, the resonance of position servo is mainly caused by the unreasonable parameters of the controller. In this paper, the position loop and the speed loop controller of the system are first tuned to solve the resonance problem. A zero phase angle error following controller (ZPETC (Zero Phase Error Tracking Contro ller) is used to reduce the following error, and the effectiveness of the two methods is preliminarily verified on the simulation platform. Under the condition of elastic load, the chattering point will be introduced into the system by the elastic connection device. Though the traditional notch filter can suppress the resonance, it can introduce the phase angle error into the system and reduce the performance of the system. In this paper, a zero phase angle error notch filter (ZPNF (Zero Phase-error Notch Filter) is used to reduce buffeting and phase lag. Finally, the optimal control effect is obtained by combining with ZPETC, to solve these two problems. The effectiveness of the algorithm is preliminarily verified on the simulation platform. Finally, the effectiveness of parameter tuning combined with ZPETC,ZPNF and ZPETC to solve the problem of follower and buffeting is verified on the rigid and elastic physical experiment platform. At the same time, the response speed of the system is improved, and the tracking error is reduced.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM921.541

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