永磁同步电机伺服驱动系统若干关键技术研究

发布时间：2018-05-23 20:47

本文选题：永磁同步电机伺服驱动系统 + 接力式数字测速　；参考：《大连理工大学》2014年博士论文

【摘要】：永磁同步电机伺服驱动系统作为大多数自动化装备的最终执行部件,其性能好坏直接决定整套装备的性能优劣。随着装备制造业的快速发展,对伺服驱动系统提出了高速度、高精度和高效率的性能要求。永磁同步电机驱动系统是一个复杂的光机电一体化系统,其性能提升和多方面因素相关。例如：由于增量式光电编码器输出脉冲提供的反馈信息有限,如何充分利用脉冲获取较高精度的速度和位置信息,是提高伺服性能的一项重要研究内容；传动部件的弹性引起的机械谐振限制了系统带宽,易引起系统不稳定,机械谐振已成为高性能伺服驱动亟待解决的关键问题之一；模拟电压或脉冲形式的指令接口存在抗干扰性差,信息容量有限等诸多局限性,而标准高速现场总线的研发应用受限于其技术垄断性和较高的价格,为满足伺服驱动系统高实时性大信息量的通信需求,有必要寻求一种高性价比、强实时性的总线接口解决方案；过热是电机绝缘损坏最主要的原因,但过度热保护会限制电机带载能力,影响电机利用率,为充分发挥电机的带载能力从而提高驱动系统的运行效率,恰当可靠的热保护方法具有重要的现实意义。本文以提高永磁同步伺服驱动系统性能为目标,在速度和位置测量方法、机械谐振抑制、总线接口技术和电机实时热模型保护等关键技术方面开展了一些理论研究和工程实践工作,主要内容如下：为充分利用增量式编码器脉冲提供的反馈信息,提出了接力式数字测速方法和动态位置细分技术以及瞬时速度的线性估算方法。通过编码器脉冲上升沿同步采样时钟,提出实际采样点始终先于周期采样点的接力式检测方法,研究了接力式数字测速法的硬件和软件实现途径,并分析了该测速方法的特点和性能。为提高动态位置分辨率,提出单个脉冲在时间上进行细分的动态位置细分算法。为获得及时准确的速度信息,研发出相邻两个速度测量值线性估算瞬时速度的方法。构建了基于FxLMS的谐振抑制控制结构,提出了加速LMS收敛的质点阻尼落体算法。为加速自适应算法的收敛速度,用重力场中质点阻尼落体比拟滤波器权系数寻优的行为,提出了质点阻尼落体算法,并分析了其控制参数的取值范围。从理论和实践上分析证明了所提结构具有较好的跟随性和鲁棒性,可以对机械谐振进行有效抑制。针对高性能伺服驱动系统遇到的通信瓶颈问题,研究了一套实时以太网的主从站控制器的完整解决方案,重点探究增强总线实时性的方法和措施。采用捷径传输机制降低从站控制器的数据流处理延迟,从而缩短通信循环周期。规划的时间同步方案,设计的基于比例积分调节器的锁相环,提高了主从时钟同步精度,满足数控系统等同步性能要求高的应用需求。基于永磁同步电机的传热机制和物理结构,建立了一种实时热模型,实现了电机在线温度预测。提出了基于电机转速和电流的铁心损耗计算方法,引入一可变热阻模拟电机自身冷却能力随转速改变的变化趋势。研究模型参数的确定方法和实现电机热保护的软件流程,并通过实验验证了温度预测的准确性和热保护的有效性。构建了驱动系统的软硬件平台,重点研究以上关键技术的有机集成方法。并通过车床的两轴圆弧插补实验,验证了集成后伺服驱动器的控制性能。
[Abstract]:As the final component of most automation equipment, the performance of the permanent magnet synchronous motor servo drive system directly determines the performance and quality of the whole equipment. With the rapid development of the equipment manufacturing industry, the high speed, high precision and high efficiency requirements for the servo drive system are put forward.
Permanent magnet synchronous motor drive system is a complex optical mechanical and electrical integration system, its performance increases and many factors are related. For example, because the feedback information provided by the output pulse of the incremental photoelectric encoder is limited, how to make full use of the pulse to obtain high precision speed and position information is an important research to improve the servo performance. The mechanical resonance caused by the elasticity of the transmission parts limits the bandwidth of the system, easily causes the system instability, and the mechanical resonance has become one of the key problems to be solved urgently for the high performance servo drive. The analog voltage or pulse form instruction interface has many limitations such as poor anti-interference, limited information capacity and so on. The development and application of field bus is limited by its technology monopoly and high price. In order to meet the high real-time and large information demand of the servo drive system, it is necessary to seek a high performance cost performance and strong real-time bus interface solution. Overheating is the main reason for the insulation damage of the motor, but the over thermal protection will limit the load of the motor. Ability, affecting the utilization of motor, in order to give full play to the carrying capacity of the motor and improve the efficiency of the driving system, the proper and reliable thermal protection method has important practical significance.
In this paper, in order to improve the performance of permanent magnet synchronous servo drive system, some theoretical research and engineering practice are carried out in the fields of speed and position measurement, mechanical resonance suppression, bus interface technology and motor real-time thermal model protection. The main contents are as follows:
In order to make full use of the feedback information provided by the incremental encoder pulse, the relay digital speed measurement method, the dynamic position subdivision technique and the linear estimation method of the instantaneous velocity are proposed. The relay detection method of the actual sampling point is always preceded by the weekly sampling point through the encoder pulse rising along the synchronous sampling clock, and the connection is studied. In order to improve the dynamic position resolution, a dynamic position subdivision algorithm is proposed to subdivide a single pulse in time to improve the dynamic position resolution. In order to obtain the timely and accurate speed information, a linear estimation of the instantaneous velocity of the two velocity measurement values is developed. Method.
The resonance suppression control structure based on FxLMS is constructed, and the particle damping fall algorithm for accelerating the convergence of LMS is proposed. In order to accelerate the convergence rate of the adaptive algorithm, a particle damping falling body algorithm is proposed by using the mass point damping of the gravity field to compare the filter weight coefficient of the mass point in the gravity field, and the range of its control parameters is analyzed. And practical analysis proves that the proposed structure has good following and robustness, and can effectively suppress mechanical resonance.
In view of the problem of communication bottlenecks in high performance servo drive system, a complete solution of a master and slave station controller for real-time Ethernet is studied. The methods and measures to enhance the real-time performance of the bus are focused on. The shortcut transmission mechanism is used to reduce the data flow processing delay from the station controller, thus shortening the communication cycle cycle. The design of the phase-locked loop based on the proportional integral regulator improves the synchronization precision of the master and slave clock and meets the requirement of high requirement for the synchronous performance of the CNC system.
Based on the heat transfer mechanism and physical structure of permanent magnet synchronous motor, a real-time thermal model is established, and the on-line temperature prediction of the motor is realized. A calculation method of core loss based on the speed and current of the motor is put forward. The changing trend of the cooling capacity of a variable thermal resistance analog motor with the rotation speed is introduced. The method of determining the parameters of the model is studied. The software flow of motor thermal protection is realized, and the accuracy of temperature prediction and the effectiveness of thermal protection are verified by experiments.
The hardware and software platform of the drive system is constructed, and the organic integration method of the key technologies is focused on. The control performance of the integrated servo driver is verified by the two axis arc interpolation experiment of the lathe.
【学位授予单位】：大连理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM341

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