双轴伺服电机控制系统

发布时间：2018-06-26 00:53

本文选题：永磁同步电机 + DSP控制技术　；参考：《哈尔滨理工大学》2014年硕士论文

【摘要】：随着工业自动化水平的不断发展，在许多工业过程中，一台电机已经难以满足其要求，而需要对两台电机进行同步的控制，因此在很多对转速和精确度都有很高要求的系统中双电机同步控制都是亟待解决的问题。为了提高双伺服电机控制系统的同步性能，在结合国内外相关文献及自动控制理论的基础上，对双电机同步控制系统进行了控制结构的设计以及控制算法的研究。本文对双轴伺服电机在工业领域中应用最为广泛的制袋机生产线研究的基础上，根据其功能要求对双轴伺服电机控制系统进行了详细分析研究。为了实现对双轴伺服电机进行同步控制，并验证和设计高效的控制系统，首先对双轴伺服电机控制系统建立动态的数学模型，建立永磁同步电机的三相静止、两相静止、两相旋转坐标系，在坐标变换的过程中给出了电压方程、转矩方程和磁链方程。本伺服系统中的永磁同步电机采用i d=0的矢量控制方式，，引入主从控制思想和SVPWM算法，通过对主电机和从动电机进行给定和偏差反馈，利用PI调节完成对调节器的设计，以MATLAB/Simulink软件为平台对建立模型中的电压、转矩、PWM输出脉宽进行仿真分析。然后在数学模型和DSP控制技术的基础之上，建立控制模块，如SPEED模块和SVPWM模块等，并用TMS320F2812搭建硬件平台，完成对事件管理器的配置和相关检测模块的设计。软件编写完成后，在CCS软件平台下对电机的转速控制、脉宽调制等进行仿真分析。本文研究的双轴伺服电机同步控制的方法，可以在准确对两台电机进行控制的同时保证电机的同步性。
[Abstract]:With the continuous development of industrial automation level, in many industrial processes, one motor has been difficult to meet its requirements, and it is necessary to control the two motors synchronously. Therefore, in many systems with high speed and precision, the synchronous control of dual motors is an urgent problem to be solved. In order to improve the synchronization performance of the dual servo motor control system, the design of the control structure and the control algorithm of the dual motor synchronous control system are studied on the basis of domestic and foreign literature and automatic control theory. Based on the research on the production line of double axis servo motor, which is widely used in industry, the control system of double axis servo motor is analyzed and studied in detail according to its function requirement. In order to realize synchronous control of two-axis servo motor and to verify and design an efficient control system, a dynamic mathematical model is established for the two-axis servo motor control system, and the three-phase static and two-phase static of the permanent magnet synchronous motor are established. In the two-phase rotating coordinate system, the voltage equation, torque equation and flux chain equation are given in the process of coordinate transformation. The permanent magnet synchronous motor in this servo system adopts the vector control mode of I DX 0, introduces the master-slave control idea and SVPWM algorithm, through the given and deviation feedback to the main motor and the slave motor, completes the design of the regulator by using Pi regulation. Based on MATLAB / Simulink software, the voltage, torque and PWM output pulse width of the model are simulated and analyzed. Then, on the basis of mathematical model and DSP control technology, the control module, such as Speed module and SVPWM module, is established, and the hardware platform is built with TMS320F2812 to complete the configuration of event manager and the design of related detection module. After the completion of the software, the speed control and pulse width modulation of the motor are simulated and analyzed under the CCS software platform. The method of synchronous control for two axis servo motors studied in this paper can guarantee the synchronism of the two motors while accurately controlling the two motors.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM383.4

【引证文献】