基于大型望远镜的双电机齿轮传动系统研究

发布时间：2018-03-17 19:20

本文选题：双电机齿轮传动系统　切入点：偏置力矩　出处：《中国科学院研究生院（长春光学精密机械与物理研究所）》2012年硕士论文　论文类型：学位论文

【摘要】：随着科技的发展以及人类对探索宇宙不息的热情,认识宇宙的工具也在不断进步。作为重要工具的天文望远镜也已经从20世纪70年代的米级发展到现在的十几米甚至几十米。本论文的研究内容属于所内参加的国际合作项目(TMT)的子系统,所里主要负责参与TMT望远镜三镜系统的研制,该论文的方向就是三镜方位轴系统的驱动。国际上的大型望远镜的轴系驱动方式主要有蜗轮蜗杆传动方式、摩擦传动方式、齿轮传动方式、直接驱动方式等,通过分析TMT对三镜系统体积、重量等要求后,本文决定采用齿轮传动系统完成方位轴承的驱动控制。首先,分析了整个三镜系统的工作过程,根据TMT项目对三镜方位轴旋转所提出的控制精度和控制时间的要求,分析出控制系统所要提供的控制参数,根据各部分的参数完成方位轴控制系统各个部分的选型,完成整个控制系统的搭建。其次,解决了在双电机同步联动系统中一个非常重要的问题,即电机输出转速同步的问题。由于在实际电机选择的过程中,即使选择相同型号的电机,实际的电机参数也不可能完全相同,这样在同样的控制指令下两电机的输出转速不一致,这样就会产生我们所说的差速振荡现象,会严重影响系统的控制精度。工程上采用两电机转速的差作为一种反馈,采用PI控制将反馈加入到电机的输入端,就可以很好的解决电机转速不一致的问题,使两电机保持同步联动。再次,在同步联动的基础上,采用预加偏置力矩的方式消除齿轮间隙对控制系统的影响。对整个三镜控制系统进行建模,在Simulink软件中建立带齿轮间隙的方位轴控制系统模型,通过对该模型的仿真实验可以清楚的看到,在加入偏置力矩环节时,可以很好的消除齿轮间隙对控制精度的影响,在仿真过程中证明了预加偏置力矩的可行性。最后,完成了伺服控制系统硬件电路板卡的设计,通过对其进行的功能验证,证明其完全可以胜任该双电机齿轮传动系统的控制任务,而且设计了丰富的通讯接口电路和一块液晶显示电路,这些功能可以很好的完成控制器与其他系统进行数据通信,还可以实时的显示相关的控制信息,该电路板卡能很好的完成后续硬件平台的控制实验。
[Abstract]:With the development of science and technology and mankind's passion for exploring the universe, As an important tool, astronomical telescope has also developed from meter level in 1970s to ten meters or even tens of meters now. The research content of this paper belongs to the participating countries. The subsystem of the International Cooperation Project (TMT), He is mainly responsible for the development of the three-mirror system of TMT telescope. The direction of this paper is the drive of the three-mirror azimuth axis system. The main driving modes of the international large telescopes are worm gear and worm gear drive mode, friction drive mode. After analyzing the requirements of TMT for the volume and weight of the three-mirror system, this paper decides to adopt the gear transmission system to complete the driving control of bearing bearing in azimuth. First of all, the working process of the three-mirror system is analyzed. According to the requirements of the TMT project for the control precision and control time of the three-mirror azimuth axis rotation, the control parameters to be provided by the control system are analyzed. According to the parameters of each part, the selection of each part of azimuth axis control system is completed, and the whole control system is built. Secondly, it solves a very important problem in the synchronous linkage system of two motors, that is, the synchronous speed of the motor output. Because in the process of selecting the actual motor, even if the same type of motor is selected, The actual motor parameters can not be exactly the same, so under the same control instructions, the output speed of the two motors is not consistent, which will produce what we call differential oscillation. It will seriously affect the control accuracy of the system. In engineering, the difference between the speed of the two motors is used as a kind of feedback, and the feedback is added to the input end of the motor by using Pi control, and the problem of the inconsistency of the speed of the motor can be solved very well. Keep the two motors in sync. Thirdly, on the basis of synchronous linkage, the influence of gear clearance on the control system is eliminated by pre-adding offset torque. The whole three-mirror control system is modeled, and the azimuth axis control system model with gear clearance is established in Simulink software. Through the simulation experiment of the model, it can be clearly seen that the influence of gear clearance on control accuracy can be eliminated well when the offset torque is added, and the feasibility of pre-bias torque is proved in the simulation process. Finally, the design of the servo control system hardware board card is completed. Through the functional verification of the card, it is proved that the servo control system can be fully qualified for the control task of the double motor gear drive system. And designed a rich communication interface circuit and a liquid crystal display circuit, these functions can be very good to complete the controller and other systems for data communication, but also real-time display of related control information, The circuit board card can complete the subsequent hardware platform control experiment.
【学位授予单位】：中国科学院研究生院（长春光学精密机械与物理研究所）
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH743;TH132.41

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