面向全电动舵机闭环控制及高速通信系统的研究

发布时间：2018-08-26 17:08

【摘要】：电动舵机作为高精度伺服系统具有结构简单、体积小等优点，其在航空航天的发展越来越迅速。本课题采用交流永磁同步伺服电机作为舵机的驱动单元相比于无刷直流电机作为驱动单元，其具有转矩脉动小、调速范围宽、指令响应快、运行效率更高、定位精度高。电动舵机交流伺服系统成为电动舵机发展的趋势。采用EtherCAT以太网技术实现多电动舵机交流伺服系统之间的实时高速通信，可以完成以主站为指令的通信系统。本文对电动舵机交流伺服系统进行了分析，用JMAG仿真分析并加工出满足电动舵机转速以及转矩要求的交流永磁同步电机，，设计以高性能MCU为控制核心的控制系统，采用体积小精度高磁电编码器作为电机末端位置反馈。采用了以EtherCAT以太网通信，使用ESC从站设备完成了主站与从站电动舵机交流伺服系统、多舵机交流伺服系统之间的高速实时通信。分析交流永磁同步电机的数学模型。设计交流永磁同步电机的电流环、速度环、位置环的闭环控制传递函数。在电动舵机交流伺服系统的控制策略上，采用前馈控制策略来使其具有指令高响应特性和指令跟随特性，采用二自由度控制策略使其具有抗干扰特性。最后搭建系统实验平台，对EtherCAT通信系统进行调试，对交流永磁同步电机的速度环、电流环控制参数进行调试，使其满足电流响应、转速要求。采用了常用的高速定位实验对交流伺服系统的前馈、二自由度等控制参数进行调试，使电动舵机具有较好高速位置响应特性，同时对电动舵机交流伺服系统进行了正弦指令跟随系统实验。分析实验结果，采用交流伺服系统的电动舵机具有良好响应特性和指令跟随特性。
[Abstract]:As a high precision servo system, electric steering gear has the advantages of simple structure and small size. Compared with brushless DC motor, AC permanent magnet synchronous servo motor (PMSM) is used as driving unit in this paper, which has less torque ripple, wider speed range, faster instruction response, higher running efficiency and higher positioning accuracy. The AC servo system of electric steering gear has become the developing trend of electric steering gear. EtherCAT Ethernet technology is used to realize real time and high speed communication between AC servo system of multi-electric steering gear, and the communication system with master station as instruction can be completed. In this paper, the AC servo system of the electric steering gear is analyzed. The AC permanent magnet synchronous motor which meets the requirements of the speed and torque of the electric steering gear is analyzed and machined by JMAG simulation. The control system with high performance MCU as the control core is designed. The small-volume high-precision magnetoelectric encoder is used as the end position feedback of the motor. Using EtherCAT Ethernet communication, using ESC slave station equipment, the AC servo system between master station and slave station is completed, and the high speed real-time communication between main station and slave station is realized. The mathematical model of AC permanent magnet synchronous motor is analyzed. The closed-loop control transfer function of AC permanent magnet synchronous motor (PMSM) is designed, including current loop, speed loop and position loop. In the control strategy of AC servo system of electric steering gear, the feedforward control strategy is adopted to make it have the characteristics of high response and follow command, and the control strategy of two degrees of freedom is adopted to make it have anti-interference characteristic. Finally, the system experimental platform is built to debug the EtherCAT communication system, and the speed loop and current loop control parameters of PMSM are debugged to meet the requirements of current response and speed. The control parameters of AC servo system, such as feedforward and two degrees of freedom, are debugged by the commonly used high-speed positioning experiment, which makes the electric steering gear have better response characteristics at high speed. At the same time, the sinusoidal command following system experiment is carried out on the AC servo system of electric steering gear. The experimental results show that the electric steering gear with AC servo system has good response characteristics and command following characteristics.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341;TP273

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