行波超声电机驱动建模与模糊PID控制系统研究

发布时间：2018-10-14 14:26

【摘要】：行波超声电机具有低速大转矩、无电磁干扰、定位精度高、响应速度快等特点,其应用引起广泛关注。但其具有非线性和参数时变性等特征,给其高性能控制带来困难,影响了其在航天领域的应用。本文在分析了超声电机运行机理的基础上,建立了超声电机两相驱动电路模型,设计了基于相位差的超声电机速度/位置模糊自整定PID控制系统,以提高超声电机的动态性能。(1)分析了超声电机运行机理,包括超声电机定子表面行波的产生机理和定子表面质点的椭圆运动分析。运行机理表明,改变驱动电压频率、幅值和相位差,可以改变电机转速。并在此基础上,对比分析了三种调速方法各自的优缺点;基于压电振子自由振动的系统方程,利用等效电路法,建立了超声电机两相等效电路模型,为驱动电路模型的建立和驱动方式的选择奠定基础。(2)给出了超声电机两相驱动电路模型和基于模型的超声电机驱动特性分析结果。将串联匹配方式和LLCC匹配方式应用于建立的超声电机驱动电路模型中,给出了基于经验公式与仿真分析相结合的超声电机匹配电感设计方法;建立了超声电机单相和两相驱动电路仿真模型。仿真结果表明,LLCC匹配方式能够有效的解决电压幅值不一致问题,实现较好匹配;基于仿真模型,进行了超声电机驱动特性分析;给出了基于TMS320F2812 DSP芯片的超声电机驱动电路硬件设计方案。实验分析表明,驱动电路输出波形好,信号稳定,杂波干扰少。(3)针对超声电机难以建立精确的数学模型、单一控制策略难以满足高性能要求等问题,给出了超声电机模糊自整定PID控制系统设计方案,构建了基于电压相位差的超声电机速度/位置模糊自整定PID控制模型;提出一种改变超声电机两相电压信号的相位差实现调速的方法,建立了超声电机模糊自整定PID控制仿真模型。仿真结果表明:与常规PID控制器相比,模糊自整定PID控制调节时间短0.002 s、超调量减小了23%,抗干扰能力也优于传统PID控制器;模糊自整定PID位置控制阶跃响应速度快,过渡平稳,跟踪目标值效果较好。
[Abstract]:Traveling wave ultrasonic motor (TWUSM) has many advantages, such as low speed and large torque, no electromagnetic interference, high positioning accuracy and fast response speed. However, it has the characteristics of nonlinearity and time-varying parameters, which makes it difficult to control its high performance and affects its application in aerospace field. On the basis of analyzing the operation mechanism of ultrasonic motor, the two-phase driving circuit model of ultrasonic motor is established, and the speed / position fuzzy self-tuning PID control system of ultrasonic motor based on phase difference is designed. In order to improve the dynamic performance of ultrasonic motor. (1) the operating mechanism of ultrasonic motor is analyzed, including the generating mechanism of traveling wave on stator surface and the elliptical motion analysis of stator surface particle. The operating mechanism shows that the motor speed can be changed by changing the driving voltage frequency, amplitude and phase difference. Based on the system equation of free vibration of piezoelectric vibrator and the equivalent circuit method, the two-phase equivalent circuit model of ultrasonic motor is established. It lays a foundation for the establishment of driving circuit model and the choice of driving mode. (2) the two-phase driving circuit model of ultrasonic motor and the analysis results of driving characteristics of ultrasonic motor based on model are given. The series matching and LLCC matching are applied to the driving circuit model of ultrasonic motor. The design method of ultrasonic motor matching inductance based on the combination of empirical formula and simulation analysis is presented. The single-phase and two-phase driving circuit simulation models of ultrasonic motor are established. The simulation results show that the LLCC matching method can effectively solve the problem of voltage amplitude inconsistency and achieve better matching, and based on the simulation model, the driving characteristics of ultrasonic motor are analyzed. The hardware design of ultrasonic motor drive circuit based on TMS320F2812 DSP chip is presented. The experimental results show that the driving circuit has good output waveform, stable signal and less clutter interference. (3) it is difficult to establish accurate mathematical model for ultrasonic motor, and the single control strategy is difficult to meet the requirements of high performance. The design scheme of fuzzy self-tuning PID control system for ultrasonic motor is presented, and the speed / position fuzzy self-tuning PID control model of ultrasonic motor based on voltage phase difference is constructed. This paper presents a method to adjust the speed of ultrasonic motor by changing the phase difference of two phase voltage signals. The simulation model of fuzzy self-tuning PID control for ultrasonic motor is established. The simulation results show that compared with the conventional PID controller, the control time of fuzzy self-tuning PID is 0.002 s shorter, the overshoot is reduced by 23s, the anti-jamming ability is better than the traditional PID controller, the step response speed of fuzzy self-tuning PID position control is faster and the transition is stable. Tracking target values are effective.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM359.9

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