基于FPGA的伺服系统力矩负载模拟系统设计

发布时间：2019-06-18 11:22

【摘要】：负载模拟系统是伺服驱动系统研制与测试过程中的重要设备,能够显著改善实验条件,加快研发进度,并且有助于降低研发成本。负载模拟系统可以准确、重复的再现伺服系统中的负载力矩,为各种控制算法和控制对象的研究提供实验平台。本文在深入研究负载模拟系统功能和结构的基础上提出了负载模拟系统的整体设计方案,然后以磁粉制动器为加载元件,以FPGA为控制核心设计了一套负载模拟系统。在理论计算和仿真的基础上完成了磁粉制动器驱动电源的设计,利用FPGA进行数据采集和加载电流控制,实现了伺服系统中不同类型负载力矩的模拟加载。本文的主要工作如下：(1)建立了基于逆动力学模型的负载模拟系统传递函数,分析了负载模拟系统的稳定性。(2)建立了机械传动系统模型和磁粉制动器模型,针对磁粉制动器特性提出以模糊PID控制器进行加载电流控制,设计并实现了模糊PID控制器。(3)设计了具有三级结构的磁粉制动器驱动电源,在分析各级电路工作原理的基础上计算了电路参数。提出了一种变占空比控制的DCM Boost PFC电路控制方法。在反激式电源的设计中采用了同步整流控制器。输出级采用线性电源。(4)利用Simulink搭建了功率因数校正电路和反激式电源的仿真模型,利用Multisim搭建了线性电源的仿真模型。通过仿真对电路结构、电路参数及控制算法进行了验证和优化。(5)以FPGA为核心完成了整个控制系统的设计,包括FPGA最小系统、外围辅助电路和控制软件,最终完成了负载模拟系统的实物样机。(6)根据伺服驱动系统中常见的基本负载类型,如恒功率负载、风机类负载,利用实验室伺服平台和负载模拟系统样机进行了加载实验。实验结果表明本文设计的负载模拟系统能够有效实现不同类型负载的模拟加载,具有良好的动态性能,实现了负载模拟系统的功能。
[Abstract]:Load simulation system is an important equipment in the development and testing of servo drive system, which can significantly improve the experimental conditions, speed up the progress of research and development, and help to reduce the cost of research and development. The load simulation system can reproduce the load torque in the servo system accurately and repeatedly, and provide an experimental platform for the research of various control algorithms and control objects. In this paper, based on the deep study of the function and structure of the load simulation system, the overall design scheme of the load simulation system is put forward, and then a set of load simulation system is designed with the magnetic powder brake as the loading element and FPGA as the control core. On the basis of theoretical calculation and simulation, the driving power supply of magnetic powder brake is designed. FPGA is used for data acquisition and loading current control, and the simulation loading of different types of load torque in servo system is realized. The main work of this paper is as follows: (1) the transfer function of load simulation system based on inverse dynamics model is established, and the stability of load simulation system is analyzed. (2) the mechanical transmission system model and magnetic powder brake model are established, and the fuzzy PID controller is proposed to control the loading current according to the characteristics of magnetic powder brake. The fuzzy PID controller is designed and implemented. (3) the driving power supply of magnetic powder brake with three-stage structure is designed, and the circuit parameters are calculated on the basis of analyzing the working principle of all levels of circuits. A DCM Boost PFC circuit control method with variable duty cycle control is proposed. The synchronous rectifier controller is used in the design of flyback power supply. The output stage adopts linear power supply. (4) the simulation model of power factor correction circuit and flyback power supply is built by Simulink, and the simulation model of linear power supply is built by Multisim. The circuit structure, circuit parameters and control algorithm are verified and optimized by simulation. (5) the design of the whole control system is completed with FPGA as the core, including FPGA minimum system, peripheral auxiliary circuit and control software, and finally the physical prototype of the load simulation system is completed. (6) according to the common basic load types in the servo drive system, such as constant power load, fan load, The loading experiment is carried out by using the laboratory servo platform and the prototype of the load simulation system. The experimental results show that the load simulation system designed in this paper can effectively realize the simulation loading of different types of loads, has good dynamic performance, and realizes the function of the load simulation system.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.541

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