锥齿轮研齿机交流伺服控制策略研究

发布时间：2019-03-16 15:15

【摘要】：由于直齿轮在传动时,啮合齿对数较少,极易产生冲击,从而会在传动中出现噪声大、不平稳等问题。而锥齿轮在传动中齿轮啮合的重合度系数远高于直齿轮,所以锥齿轮在传动中表现出噪声低、平稳和承载能力高等优点,从而被广泛用于各个制造业,如汽车、航空、航海和机床等行业,在涉及到机械领域中占有举足轻重的地位。由于刚生产出的锥齿轮表面有毛刺,使用前必须对其进行精确加工工艺。因为刚生产出来的锥齿轮表面光洁度、毛刺等质量问题会严重影响机械的传动噪声和平稳性。而往往未经过再加工的锥齿轮大都存在质量问题。于是研齿技术被提出,现今研齿技术是改善锥齿轮质量的最优方法之一。研齿就是精确控制施加齿轮面的相互作用力和齿面的相对滚动速度,并在这一过程中向齿轮面中喷射研磨剂,通过齿轮面的滑动和相互作用力使研磨剂切割齿面极小的凸金属,来提高锥齿轮质量,因此在研齿过程中要对电机进行高效率和高精度的控制。而现今国内市场使用的大部分研齿机都是半自动的,齿轮的研磨主要依赖技术人员的经验,对齿轮研磨的控制和质量难以满足要求。高效率、高精度的锥齿轮研齿机大都依赖国外进口,这些问题严重限制我国制造业的发展,因此如何提高研齿机效率和控制精度,以满足国内市场需求,已迫在眉睫。本文主要以锥齿轮研齿机的交流伺服系统作为研究对象,针对永磁同步电机的强耦合、非线性特性通过坐标变换进行解耦,以达到类似直流电机的控制方式,进而实现PMSM的矢量控制,并在此基础上建立了电流环、速度环、位置环三闭环PID控制,并对交流伺服系统PID控制的三闭环参数进行整定分析。由于研齿机的进给机械执行机构对研齿机的性能有一定影响,通过分析和动力学理论建立执行机构的等效数学模型,将执行机构加入到系统中进行仿真。由于在控制过程中,控制系统会受到多种因素的影响,而这些干扰因素又是不确定的,这会在较大程度上使高性能控制难以实现,致使传统的PID控制方法难以满足要求,于是本文采用了间接自适应模糊控制,并基于李雅普诺夫综合法进行设计。这种控制方法利用模糊系统具有万能逼近的特点,并通过自适应参数的调整迫使电机的输出渐进收敛于给定参考信号,通过理论和仿真的验证,即使系统外部环境变化或扰动发生突变时,系统的输出响应依然可以较好的跟踪参考信号,结果验证本文采用的方法使得系统对负载扰动的敏感性远低于传统PID控制,在控制精度和响应速度等方面也高于传统PID控制,并且伺服系统的动静态特性和鲁棒性较好。
[Abstract]:In the transmission of spur gear, the number of meshing teeth is less, so it is easy to produce impact, so there will be some problems in transmission, such as high noise, unstable and so on. The coincidence coefficient of bevel gear in transmission is much higher than that of straight gear, so bevel gear has the advantages of low noise, stable and high bearing capacity in transmission, so it is widely used in various manufacturing industries, such as automobile, aviation, and so on, so bevel gear is widely used in various manufacturing industries, such as automobile, aviation, etc. Navigation and machine tools and other industries, in the field of machinery plays an important role. Because of the burr on the surface of the newly produced bevel gear, a precise machining process must be carried out before it is used. Because the newly produced bevel gear surface finish, burr and other quality problems will seriously affect the mechanical transmission noise and stationarity. But the bevel gear that often does not go through the reprocessing mostly has the quality problem. Therefore, tooth lapping technology is put forward. Nowadays, tooth lapping technology is one of the best methods to improve the quality of bevel gears. Tooth lapping is to precisely control the interaction force applied to the gear surface and the relative rolling speed of the tooth surface, and in this process, the abrasive is sprayed into the gear surface to cut the convex metal with minimal tooth surface through the sliding and interaction force of the gear surface. In order to improve the quality of bevel gear, it is necessary to control the motor with high efficiency and precision in the process of tooth lapping. At present, most of the gear lapping machines used in the domestic market are semi-automatic, the grinding of gears mainly depends on the experience of technicians, and the control and quality of gear lapping is difficult to meet the requirements. Most of the bevel gear lapping machines with high efficiency and precision depend on foreign imports. These problems seriously limit the development of our manufacturing industry. Therefore, it is urgent to improve the efficiency and control precision of bevel gear lapping machines in order to meet the demand of domestic market. This paper mainly takes the AC servo system of bevel gear lapping machine as the research object, aiming at the strong coupling of permanent magnet synchronous motor (PMSM), the nonlinear characteristic is decoupled by coordinate transformation, in order to achieve the control mode similar to DC motor. Then the vector control of PMSM is realized, and the three closed loop PID control of current loop, velocity loop and position loop is established, and the three closed loop parameters of AC servo system PID control are set up and analyzed. Because the feed mechanism of the gear lapping machine has a certain influence on the performance of the gear lapping machine, the equivalent mathematical model of the actuator is established through the analysis and dynamics theory, and the actuator is added to the system for simulation. In the process of control, the control system will be affected by many factors, and these disturbance factors are uncertain. This will make the high performance control difficult to achieve, and the traditional PID control method can not meet the requirements. Therefore, indirect adaptive fuzzy control is adopted in this paper, and the design is based on Lyapunov synthesis method. This control method takes advantage of the universal approximation of the fuzzy system and forces the output of the motor to converge to the given reference signal through the adjustment of the adaptive parameters, which is verified by the theory and simulation. Even when the external environment changes or the disturbance changes suddenly, the output response of the system can still track the reference signal well. The results show that the sensitivity of the system to load disturbance is much lower than that of the traditional PID control, and the results show that the method proposed in this paper makes the system more sensitive to the load disturbance. The control accuracy and response speed of the servo system are also higher than those of the traditional PID control, and the dynamic and static characteristics and robustness of the servo system are better.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM921.541

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