基于Nios Ⅱ的多直线电机耦合控制研究

发布时间：2018-06-13 03:51

本文选题：永磁同步直线电机 + 耦合控制　；参考：《安徽大学》2015年硕士论文

【摘要】：作为高端制造业的第一块基石,数控机床(computer numerical control, CNC)决定了整个工业体系的发展高度,也是衡量一个时代工业智能化程度的重要标尺之一。作为数控机床最重要的组成部分之一,直线进给系统一直是制约数控机床的加工精度、加工速度、工件质量等技术参数提高的关键因素。目前,传统数控机床进给系统多采用旋转电机加滚珠丝杠的结构,该结构不仅降低了数控机床加工刀具运动的速度和加速度,而且由于传动结构误差和采用半闭环控制等因素,精度难以进一步提高,使直线进给系统成为高级精密数控机床发展的瓶颈。近年来,永磁同步直线电机(PMSLM, Permanent Magnet Synchronous Linear Motor)高速发展,成为数控机床直线进给系统驱动部件的新选择。PMSLM无需传动机构即可直接输出线性驱动,具有速度高、推力大、精度高等诸多优点。但由于数控机床往往需要多个方向的直线驱动,传统控制方案多采用DSP或工控机作为控制核心,缺乏多PMSLM并行控制能力,多PMSLM高精度耦合控制成为制约PMSLM在数控机床上应用的关键性问题。本课题研究了一种利用Nios II软核处理器作为系统控制核心的多PMSLM控制系统。该系统采用基于卡尔曼滤波器的模糊二自由度PID控制算法控制PMSLM,具有较高的进给速度,较高的定位精度,且具有良好的系统动态跟踪性能,抗干扰性能和耦合性能。本课题具体工作有如下几个方面：一、基于卡尔曼滤波器PMSLM模糊二自由度PID控制算法研究本课题综合分析和比较了常用PMSLM调速控制算法,选取了基于卡尔曼滤波器的模糊二自由度PID偏差耦合控制算法作为本系统的控制算法。PID控制算法作为工业界最广泛使用的控制策略,具有良好的动态响应,亦能较好的消除静差。二自由度控制算法可以有效的解决传统PID控制算法中“干扰抑制最佳参数”和“设定跟踪最佳参数”之间的矛盾,使系统兼具良好的跟踪特性和抗干扰特性。模糊二自由度控制算法可以忽略受控的永磁同步直线电机的精密数学模型,有助于提高系统的鲁棒性。引入卡尔曼滤波器用以抑制测量噪声和白噪声,进一步优化系统的精度,减小系统静差。通过基于卡尔曼滤波器模糊二自由度PID控制,使PMSLM控制系统在获得良好的跟踪特性的同时获得良好的抗干扰特性、鲁棒性并提供高精度的驱动。二、基于偏差耦合控制策略多永磁同步直线电机耦合控制算法研究针对多PMSLM耦合控制的工况,本课题引入了偏差耦合控制结构,根据每个电机的工作状态动态地在电机之间分配速度补偿信号,首先检测一台电机的速率并与系统中其他的电机速率的变差乘以相应的增益后相加得到偏差耦合控制的速度补偿信号,从而获得良好的耦合控制效果。偏差耦合控制策略不仅从整体角度全面考虑了所有被控对象的运行状态,同时也考虑了被控对象之间参数不同的情况,具有良好的耦合性能。三、多永磁同步直线电机耦合控制的FPGA实现作为控制系统核心,FPGA具有传统控制平台所不具备的强大的并行运算能力,本课题研究了利用一块FPGA搭建多块Nios II软核处理器,实现多PMSLM耦合控制算法。基于FPGA的控制系统具有丰沛的计算资源,可以实现多PMSLM高精度实时控制。同时,各电机控制通道处于同一芯片内,因此具有极高的通信速度,为耦合控制算法通信提供了高速的信道,提高了偏差耦合控制算法的运行速度,提高了多PMSLM耦合控制的实时性。四、搭建测试试验平台并进行不同控制方案的对比试验搭建了基于Nios II的多PMSLM耦合控制平台,对该平台的控制效果进行了试验测试,并与基于工控机的多PMSLM耦合控制平台进行对比试验。通过分析实验数据,评价控制系统的快速响应能力、抗干扰性能和耦合性能。仿真分析与试验测试的结论证明基于Nios Ⅱ的多PMSLM耦合控制平台具有较好的快速响应能力、抗干扰性能和耦合性能。有助于提高直线进给驱动系统的控制质量,具有较高的科研意义和实用价值。
[Abstract]:As the first cornerstone of the high-end manufacturing industry, computer numerical control (CNC) determines the development of the whole industrial system, is also one of the important scales to measure the degree of industrial intelligence in an era. As one of the most important parts of the CNC machine tool, the linear feed system has always restricted the processing of CNC machine tools. At present, the traditional CNC machine tool feed system adopts the structure of rotating motor plus ball screw, which not only reduces the speed and acceleration of the machining tool movement, but also the precision of the transmission structure error and the semi closed loop control. It is difficult to further improve the linear feed system as a bottleneck for the development of advanced precision CNC machine tools. In recent years, PMSLM (Permanent Magnet Synchronous Linear Motor) has developed rapidly, and has become a new selective.PMSLM for linear feed system driving parts of CNC machine tool without transmission mechanism to direct output linear drive. It has many advantages, such as high speed, high thrust and high precision. However, because CNC machine tools often need multi direction linear drive, the traditional control schemes mostly use DSP or industrial control machine as control core, lack of multi PMSLM parallel control ability, and multi PMSLM high-precision coupling control is the key problem that restricts the application of PMSLM on CNC machine tools. A multi PMSLM control system using Nios II soft core processor as the core of system control is studied in this paper. The system uses a fuzzy two degree of freedom PID control algorithm based on Calman filter to control PMSLM. It has high feed speed, high positioning precision, good dynamic tracking performance, anti-jamming performance and good performance. The main work of this project is as follows: first, based on the study of the Calman filter PMSLM fuzzy two degree of freedom PID control algorithm, this topic is analyzed and compared with the common PMSLM speed control algorithm, and the fuzzy two degree of freedom PID deviation coupling control algorithm based on the Calman filter is selected as the control of this system. The algorithm.PID control algorithm, as the most widely used control strategy in the industry, has good dynamic response and can better eliminate static difference. The two degree of freedom control algorithm can effectively solve the contradiction between "the best parameter of interference suppression" and "the optimal parameter of setting tracking" in the traditional PID control algorithm, so that the system has a good heel The fuzzy two degree of freedom control algorithm can ignore the precise mathematical model of the controlled permanent magnet synchronous linear motor and help to improve the robustness of the system. The Calman filter is introduced to suppress the measurement noise and white noise, to further optimize the precision of the system and to reduce the system static difference. Through the Calman filter The fuzzy two degree of freedom PID control enables the PMSLM control system to obtain good tracking characteristics while obtaining good anti-interference characteristics, robustness and high precision drive. Two, the study of multi permanent magnet synchronous linear motor coupling control algorithm based on the deviation coupling control strategy is introduced to the working conditions of multi PMSLM coupling control. The deviation coupling control structure is used to dynamically allocate the speed compensation signal between the motor according to the working state of each motor. First, it detects the speed of the motor and multiplies the difference of the other motor speed in the system by the corresponding gain and gets the speed compensation signal controlled by the deviation coupling after the corresponding gain, thus obtaining a good coupling control effect. The deviation coupling control strategy not only takes the overall consideration of the operating state of all the controlled objects from the whole point of view, but also takes into account the different parameters between the controlled objects, and has good coupling performance. Three, the FPGA realization of the multi permanent magnet synchronous linear motor coupling control is the core of the control system, and the FPGA has the traditional control platform. With the powerful parallel computing power, we have studied the multi block Nios II soft core processor using a block of FPGA to realize the multi PMSLM coupling control algorithm. The control system based on FPGA has abundant computing resources and can realize the multi PMSLM high precision real-time control. At the same time, the control channel of each electric machine is in the same chip, so it has the pole. High communication speed provides high speed channel for coupling control algorithm communication, improves the running speed of the deviation coupling control algorithm and improves the real-time performance of multi PMSLM coupling control. Four, a test platform is built and a multi PMSLM coupling control platform based on Nios II is set up to build a test platform for different control schemes, and the platform is built on this platform. The control effect is tested and compared with the multi PMSLM coupling control platform based on the industrial control machine. Through the analysis of the experimental data, the fast response ability, anti-interference performance and coupling performance of the control system are evaluated. The conclusion of the simulation analysis and test test proves that the multi PMSLM coupling control platform based on Nios II is better. Fast response capability, anti-jamming performance and coupling performance are helpful to improve the control quality of linear feed drive system, which has high scientific research significance and practical value.
【学位授予单位】：安徽大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG659;TM359.4

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