基于RTX的某综合实验台电机拖动系统的研制

发布时间：2019-03-14 12:47

【摘要】：.在现代社会生产生活各个领域,电机拖动系统得到了越来越广泛的应用。在某些特殊场合,为满足设备的工作条件,对电机拖动系统在载荷、转速、控制精度等功能与性能方面的要求不断提高。目前,电机拖动已经从传统额定转速运行到变频调速运行,甚至要求电机达到转矩控制和位置控制。因此,研究与应用高精度、高响应的实时传感器矢量控制的转速控制、转矩控制和位置控制的电机拖动系统,对我国船舶、航天、航空和国防建设的发展有着十分重要的意义。本文以哈尔滨工程大学承担的、由中船重工某研究所下达的科研课题“某综合实验台”为背景,根据其电机拖动系统的特殊要求,着重讨论了该实验台电机拖动系统的机架设计和实时控制软件的开发。对其电机拖动系统进行了基于RTX的开发研制,实现了对电机的转速、转矩和位置的高精度、高响应的实时传感器矢量控制。本文主要进行了以下几方面工作:首先,对电机拖动系统的功能和输出要求进行了分析,确定了系统的总体方案。在结构方面采用了自平衡的电机底座和机架方式,以降低试验中对试验场地的基础要求。为了提高系统的抗干扰和稳定性,采用了工控机、变频器、光纤和RS485模块以及符合工业和军用标准的高质量元件搭建了电机的控制平台。为了满足在大载荷下高精度、高响应的实时控制要求,采用了 Win32和RTX作为控制系统的实时运行平台,RTSS作为控制系统的实时控制核心。其次,根据电机拖动系统的结构设计要求,对电机拖动系统的机架进行了结构设计和校核计算。建立了电机和机架的三维模型,并通过有限元等方法对系统进行了各工况下的分析。然后,根据控制系统的功能要求,搭建了控制系统软件的总体构架,实现了远程控制和本地控制两种实时控制模式。工作中,确定了基于MFC和RTSS的实时控制方案,设计了程序流程图,完成了 RTX串口驱动程序与本系统的整合,在Win32和RTX系统平台上,编写了控制系统的人机界面和控制程序,研究整合了变频器与工控机数据通讯源程序,实现了对电机的转速、转矩和位置的高精度、高响应的实时传感器矢量控制。最后,在中船重工某研究所试验场,结合系统现场调试试验,对工控机与变频器进行了实时控制性能测试。实验结果表明控制系统满足了电机矢量实时控制系统的要求,解决了控制软件在Win32操作系统下难以满足实时性的难题,实现了电机高精度、高响应的实时传感器矢量控制的转速控制、转矩控制和位置控制。
[Abstract]:. In modern society, every field of production and life, motor drive system has been more and more widely used. In some special situations, in order to meet the working conditions of the equipment, the requirements for the function and performance of the motor driving system such as load, rotational speed, control precision and so on are continuously improved. At present, the motor drive has already run from the traditional rated speed to the frequency conversion speed regulation operation, even requires the motor to achieve the torque control and the position control. Therefore, the research and application of high-precision, high-response real-time sensor vector control speed control, torque control and position control motor drive system is of great significance for the development of ship, aerospace, aviation and national defense construction in our country. Under the background of a scientific research project "a comprehensive experimental platform", which was undertaken by Harbin University of Engineering and issued by a certain research institute of China Shipbuilding heavy Industry, and according to the special requirements of its motor driving system, The frame design and the development of real-time control software of the motor driving system are discussed in detail. The motor driving system is developed based on RTX, and the real-time sensor vector control with high precision and high response to the speed, torque and position of the motor is realized. The main work of this paper is as follows: firstly, the function and output requirement of the motor drive system are analyzed, and the overall scheme of the system is determined. In the aspect of structure, the self-balanced motor base and frame are adopted in order to reduce the basic requirements of the test site. In order to improve the anti-interference and stability of the system, industrial control computer, frequency converter, optical fiber and RS485 modules and high-quality components in accordance with industrial and military standards are used to build the control platform of the motor. In order to meet the requirements of high-precision and high-response real-time control under large loads, Win32 and RTX are used as the real-time operating platform of the control system, and RTSS is used as the real-time control core of the control system. Secondly, according to the structure design requirements of the motor drive system, the frame structure design and checking calculation of the motor drive system are carried out. The three-dimensional model of motor and frame is established, and the system is analyzed by finite element method. Then, according to the functional requirements of the control system, the overall framework of the control system software is built, and two real-time control modes, remote control and local control, are realized. In the work, the real-time control scheme based on MFC and RTSS is determined, the program flow chart is designed, and the integration of the RTX serial port driver and the system is completed. On the platform of Win32 and RTX, the man-machine interface and the control program of the control system are compiled. The real-time sensor vector control with high precision and high response to the speed, torque and position of the motor is realized by integrating the data communication source program between the frequency converter and the industrial control computer. Finally, the real-time control performance of the industrial control computer and the frequency converter is tested in a certain institute test site of China Shipbuilding heavy Industry, combined with the system field debugging test. The experimental results show that the control system meets the requirements of the motor vector real-time control system, solves the difficult problem that the control software is difficult to meet the real-time performance under the Win32 operating system, and realizes the high precision of the motor. High response real-time sensor vector control for speed control, torque control and position control.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921

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