伺服驱动器速度环设计

发布时间：2018-05-05 14:50

本文选题：速度环 + S型平滑器　；参考：《西安电子科技大学》2014年硕士论文

【摘要】：速度环设计在伺服驱动器中是一个很重要的部分。本课题在速度环的设计上考虑了以下几点:1)速度突变时会对系统造成冲击。2)电机负载转矩突变时,系统不能及时响应,负载抗干扰能力差。3)电机运行时机械结构发生的共振现象和电机停止时发生的抖动现象,降低了系统的可用性。基于以上考虑,本课题对伺服驱动器的速度环进行设计。其中包括了S型平滑器、当前转速测量、速度环PDFF控制和振动抑制。S型平滑器是对给定转速命令的平滑化处理,减小给定转速突变时给系统带来的冲击。当前转速测量主要是利用永磁同步电机增量式编码器进行当前转速的测量,并对测量值进行滤波处理,使得当前转速平滑缓慢变化。速度环PDFF控制是对转速的控制,其在位置式PI控制算法的基础上加了前馈环节,目的是为了在有负载的情况下增加系统的响应能力与抗干扰能力。振动抑制分为两种:一、在不改变控制增益参数的情况下,对机械结构发生的共振进行抑制,包括了共振抑制低通滤波、共振抑制陷波滤波。二、对电机在停止时发生的抖动进行抑制。此外,在速度环设置了过速度、编码器异常等安全保护。目前设计的伺服驱动器经过验收,实现了对电机的速度控制。验收结果表明转速波动小,测速误差小,控制效果良好,符合要求。
[Abstract]:The design of speed loop is an important part of servo driver. In the design of the speed loop, the following points: 1) the sudden change of speed will cause an impact on the system. 2) when the load torque of the motor changes, the system can not respond in time. The resonance of the mechanical structure and the jitter of the motor when the motor is stopped reduces the availability of the system. Based on the above considerations, this paper designs the speed loop of servo driver. It includes S-type smoother, current speed measurement, speed loop PDFF control and vibration suppression. S-type smoother is used to smooth the command of given speed to reduce the impact of sudden change of given speed on the system. The current speed measurement mainly uses the permanent magnet synchronous motor incremental encoder to measure the current speed and filter the measured value to make the current speed change smoothly and slowly. The speed loop PDFF control is the speed control. The feedforward link is added on the basis of the position Pi control algorithm in order to increase the response ability and the anti-interference ability of the system under the condition of the load. Vibration suppression is divided into two types: one is to suppress the resonance of mechanical structure without changing the control gain parameters, including resonance suppression low-pass filter, resonance suppression notch filter. Second, restrain the jitter of the motor when it stops. In addition, the speed loop is provided with overspeed, encoder exception and other security protection. The servo driver designed at present has been accepted and realized the speed control of the motor. The results show that the speed fluctuation is small, the measurement error is small, the control effect is good and meets the requirements.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.541

【参考文献】