基于模糊PID控制的永磁同步直线电机伺服控制系统研究与实现

发布时间：2018-04-26 01:34

本文选题：永磁同步直线电机 + 矢量控制　；参考：《南华大学》2014年硕士论文

【摘要】：相比于传统的伺服电机，永磁同步直线电机不需要中间传动结构，采取直驱进给方式，具有传动刚性强、加速度大、速度快、精度高等优势，在高档数控机床和精密测量加工设备等场合中具有良好的应用前景。本文针对负载变化的永磁同步直线电机伺服系统提出模糊PID控制和矢量控制策略，最终通过实验验证了设计的系统满足高精度和运行平稳的控制性能要求。首先，分析了永磁同步直线电机的基本结构和工作原理，建立了d-q轴数学模型，得出电磁推力方程和机械运动方程，，为电机的控制提供了理论依据。其次，针对负载变化的永磁同步直线电机伺服系统，速度环采用PID控制与模糊控制相结合，以实现速度响应快、无超调、稳态误差小的控制；电流环采用矢量控制技术与PI控制相结合，以实现电流的精准控制；位置环采用P控制，以实现高精度的控制。再次，介绍了基于DSP的数字交流驱动器的硬件电路和系统控制算法的软件实现。最后，搭建了永磁同步直线电机伺服系统实验平台，对系统电流环、速度环和位置环控制分别进行了相关实验，其结果表明系统所采用的控制策略是有效的，整体性能满足预期要求。
[Abstract]:Compared with the traditional servo motor, the permanent magnet synchronous linear motor does not need the intermediate drive structure, and adopts the direct drive feed mode, which has the advantages of strong transmission rigidity, high acceleration, high speed and high precision. It has a good application prospect in the field of high-grade NC machine tools and precision measuring and processing equipment. In this paper, fuzzy PID control and vector control strategy are proposed for the permanent magnet synchronous linear motor servo system with varying load. Finally, the experimental results show that the designed system meets the requirements of high precision and smooth operation. Firstly, the basic structure and working principle of permanent magnet linear synchronous motor are analyzed, the mathematical model of d-q axis is established, and the equations of electromagnetic thrust and mechanical motion are obtained, which provide the theoretical basis for the control of permanent magnet synchronous linear motor. Secondly, for the permanent magnet synchronous linear motor servo system with varying load, the speed loop is combined with PID control and fuzzy control to realize the control of fast speed response, no overshoot and small steady-state error. The current loop adopts the vector control technology and Pi control to realize the accurate control of the current, and the position loop uses the P control to realize the high precision control. Thirdly, the hardware circuit of digital AC driver based on DSP and the software realization of system control algorithm are introduced. Finally, the experiment platform of permanent magnet synchronous linear motor servo system is built, and the current loop, speed loop and position loop control are tested respectively. The results show that the control strategy adopted by the system is effective. Overall performance meets expected requirements.
【学位授予单位】：南华大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM359.4

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