直流力矩电动机位置伺服系统研究

发布时间：2019-06-22 09:05

【摘要】：直流位置伺服系统以其大惯量驱动、响应快、控制精度高等优点被广泛地应用于诸如转台、雷达天线、机器人手臂控制等场合。这些场合需要系统快速响应外部输入信号，并且具有高精度的位置随动伺服控制。而采用DSP作为主要控制核心器件的数字直流位置伺服系统更是成为高精度位置伺服控制系统的一种发展趋势和潮流。本文以转台系统应用为背景，对直流力矩电动机位置伺服系统进行了研究。首先在讨论常用直流力矩电机的特性，，介绍光电编码器和霍尔电流传感器的原理、主要参数和选型标准的基础上，进行了传感器的选型。接着在介绍伺服系统的基本原理，讨论运动控制过程中常用的电流环、速度环、位置环三环控制结构的基础上，进行了电流采样电路的设计。最后从实际控制工程角度出发，以转台系统为例，分析了实际位置随动系统的数字控制系统，应用Matlab工具软件对转台位置控制系统进行了仿真实验，给出了仿真结果，并分析了各种PID控制方案的优劣。
[Abstract]:DC position servo system has been widely used in rotating table, radar antenna, robot arm control and so on because of its large inertia drive, fast response, high control accuracy and so on. In these situations, the system needs to respond to the external input signal quickly and has high precision position servo control. The digital DC position servo system with DSP as the main control core device has become a development trend and trend of high precision position servo control system. Based on the application of turntable system, the position servo system of DC torque motor is studied in this paper. Firstly, on the basis of discussing the characteristics of common DC torque motor, introducing the principle, main parameters and selection standard of photoelectric encoder and Hall current sensor, the selection of sensor is carried out. Then, the basic principle of servo system is introduced, and the current sampling circuit is designed on the basis of discussing the current loop, speed loop and position loop control structure commonly used in the process of motion control. Finally, from the point of view of actual control engineering, taking the turntable system as an example, the digital control system of the actual position servo system is analyzed, the simulation experiment of the turntable position control system is carried out by using Matlab tool software, the simulation results are given, and the advantages and disadvantages of various PID control schemes are analyzed.
【学位授予单位】：华北电力大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM359.6

【相似文献】