基于STM32和伺服电机的高围压加载控制研究

发布时间：2018-02-04 01:38

  本文关键词： 高围压加载 STM32 交流伺服电机 模糊PID Simulink　出处：《大连理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：近年来,水利水电工程得到了极大的发展,涌现了一批巨大而复杂的土石坝建设项目。大型土石坝数量的剧增带来很多技术方面的难题,特别是大型土石坝坝基抗震设计参数难测定,成为建设施工方亟待解决的问题。目前坝基抗震设计参数的测定通常在实验室借助三轴试验来完成,而国内外三轴试验中尚缺少能够模拟300米(3MPa)坝高的高围压水压加载系统,因此亟需设计一套具有较高静态加载精度和较好动态特性的动三轴仪高围压径向加载系统来满足实验和实际工程的需求。本文在国家自然科学基金项目(51275068)的支持下,结合实验室三轴设备,开发出一套以STM32和交流伺服电机为核心的动三轴高围压水压加载系统,本文的研究方法和内容主要有以下几个方面：首先,通过对国内外文献研究成果的大量调研,详细介绍了三轴试验高围压加载装置的具体实现方式、水压传动技术的发展现状及模糊控制的相关理论,提出了以单片机和伺服电机为控制核心的总体控制方案,并完成了相关硬件电路和机械零部件的设计及选型。其次,剖析了交流伺服电机的矢量控制技术,重点建立了交直轴坐标系下的电机双闭环控制模型,进而得出整个动三轴高围压加载系统的数学模型,在此基础上分析了系统的稳定性,并介绍了临界比例带法PID初值参数整定过程。然后,针对动三轴高围压径向加载系统控制对象非线性、参数时变性等复杂情况尝试运用模糊控制对PID参数进行在线整定。基于系统建立的模糊控制器和高围压加载系统数学模型,借助于S imulink工具箱,对系统进行动静态仿真和分析,仿真结果表明模糊PID的动态特性和适应性更好,相位滞后较常规PID减少了16.7%,综合效果要好于常规PID。最后,借助于LabVIEW和RVMDK软件设计开发平台,进行了上位机界面和下位机程序的调试和设计,在此基础上完成实验验证工作。通过实验的方法标定水压力与活塞位移之间的函数模型并用三阶指数拟合其关系曲线。针对模糊PID和传统PID,分别给定系统相同的输入信号,实验结果表明,模糊PID较传统PID稳态精度更高。阶跃响应实验中超调量较常规PID减少了20.7%,响应较快,动态特性优于常规PID。典型周期信号实验表明系统低频下的动态特性优于高频,同时加载系统能够做到5‰的静态加载精度和0.01～5Hz的动态加载频率,达到了系统设计目标。
[Abstract]:In recent years, water conservancy and hydropower projects have been greatly developed, and a number of huge and complex earth-rock dam construction projects have emerged. The rapid increase in the number of large earth-rock dams has brought a lot of technical problems. Especially, it is difficult to determine the seismic design parameters of large earth-rock dam foundation, which is an urgent problem to be solved. At present, the determination of seismic design parameters of dam foundation is usually completed by means of triaxial test in laboratory. However, in the triaxial tests at home and abroad, there is still no high confining pressure hydraulic loading system which can simulate the dam height of 300m ~ 3MPa. Therefore, it is urgent to design a high confining pressure radial loading system with higher static loading accuracy and better dynamic characteristics to meet the needs of experiment and practical engineering. 51275068). Combined with the laboratory triaxial equipment, a dynamic three-axis high confining pressure hydraulic loading system with STM32 and AC servo motor as the core is developed. The research methods and contents of this paper are as follows: firstly. Through a large number of domestic and foreign literature research results, the paper introduces in detail the concrete realization mode of high confining pressure loading device in triaxial test, the development status of hydraulic transmission technology and the relevant theory of fuzzy control. The overall control scheme based on single chip microcomputer and servo motor is put forward, and the design and selection of related hardware circuit and mechanical parts are completed. Secondly, the vector control technology of AC servo motor is analyzed. The double closed loop control model of the motor in the cross axis coordinate system is established, and the mathematical model of the whole dynamic three axis high confining pressure loading system is obtained, and the stability of the system is analyzed. The process of setting the initial values of PID by the critical proportional belt method is introduced. Then, the nonlinear control object of the radial loading system with dynamic triaxial high confining pressure is presented. In complex cases such as time-varying parameters, fuzzy control is used to adjust the parameters of PID online. The fuzzy controller and the mathematical model of high confining pressure loading system are established based on the fuzzy controller and the mathematical model of high confining pressure loading system. With the help of S imulink toolbox, the dynamic and static simulation of the system is carried out. The simulation results show that the dynamic characteristics and adaptability of fuzzy PID are better. The phase lag is 16.7 less than the conventional PID, and the comprehensive effect is better than the conventional PID. Finally, with the help of LabVIEW and RVMDK software design and development platform. Debugging and design of upper computer interface and lower computer program are carried out. The function model between water pressure and piston displacement is calibrated by the experimental method and its relation curve is fitted with the third order exponent. For fuzzy PID and traditional PID. Given the same input signal of the system, the experimental results show that the fuzzy PID is more accurate than the conventional PID in steady state, and the overshoot in the step response experiment is reduced by 20.7and the response is faster than that of the conventional PID. The dynamic characteristics of the system are better than those of the conventional PID.The typical periodic signal experiments show that the dynamic characteristics of the system at low frequency are better than those at high frequency. At the same time, the loading system can achieve static loading accuracy of 5 鈥，

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