光纤环绕制电机控制策略研究

发布时间：2018-01-10 09:07

本文关键词：光纤环绕制电机控制策略研究　出处：《中北大学》2017年硕士论文　论文类型：学位论文

【摘要】：光纤环是光纤陀螺仪的核心元件,其光路参数具有显著的分布式特征,其几何特性和物理特性极易随着物理场的变化发生改变,产生非互易性误差。采用对称绕制工艺、进行恒定小张力控制有可以效地缓解因温度梯度和应力梯度产生的非互易性误差。其缠绕过程中的张力控制和精密排纤控制实质上是对多轴的精密同步运动控制。本文基于对光纤环绕制系统对多电机同步控制要求的分析,从单电机跟踪精度的控制和多电机同步精度的控制两个方面对电机的高精度控制策略进行了较为深入的分析和研究。为实现单电机动态跟踪能力的高精度控制,在对永磁同步电机(PMSM)的基本控制原理进行详细分析的基础上,针对经典位置伺服PID控制系统的性能的不足之处,提出了电机的复合抗扰控制策略。此控制策略主要是基于永磁同步电机的精确线性化数学模型,采用等价输入干扰(EID)估计算法,对电机工作过程中的参数变化、负载突变等造成的扰动以及外界干扰等进行估计和补偿,提高电机的抗干扰能力,在此基础上,又结合backstepping算法和前馈控制对电机的位置伺服控制系统设计了兼顾系统稳定性和指令响应速度的复合控制器。为实现多电机的高精度同步控制,在分析光纤环绕制系统的基本结构和张力控制原理的基础上,分析了绕纤系统对伺服电机的同步控制要求和绕线电机之间的位置同步关系,并基于对不同同步控制方法的比较,建立了适合于本系统的四电机偏差耦合同步控制系统,详细分析了收线电机、各放线电机和排线电机之间的同步误差和各电机输入端位置补偿量的关系,并在此基础上,针对固定增益补偿不能对系统参数变化做出反馈的问题,采用BP神经网络对系统的位置补偿器进行了改进。最后,在MATLAB/SIMULINK环境下对系统进行了建模仿真,分析对比了不同控制方法下单电机控制系统的阶跃性能、动态跟踪性能、鲁棒性、以及多电机同步控制系统中各电机之间的同步情况。仿真结果表明,所提出的控制策略较一般的控制方法使系统性能明显改善,系统中的单电机动态跟踪误差和多电机同步误差均能保持在±0.02rad的范围内,满足光纤环绕制系统对绕纤电机的控制精度要求,验证了所提出的单电机复合抗扰控制策略和BP神经网络补偿的多电机偏差耦合同步控制策略的有效性。
[Abstract]:Optical fiber ring is the core component of fiber optic gyroscope. Its optical path parameters have obvious distributed characteristics, and its geometric and physical characteristics are easy to change with the change of physical field. Non-reciprocal error is produced. Symmetrical winding process is adopted. The non-reciprocal error caused by temperature gradient and stress gradient can be effectively alleviated by constant small tension control. In essence, tension control and precision fiber arrangement control in winding process are precise synchronous motion control of multi-axis. This paper is based on the analysis of the requirements for synchronous control of multi-motor in optical fiber surround system. The high precision control strategy of single motor is analyzed and studied from two aspects: single motor tracking precision control and multi motor synchronization precision control. In order to realize the high precision control of single motor dynamic tracking ability. Based on the detailed analysis of the basic control principle of permanent magnet synchronous motor (PMSM), the performance of the classical position servo PID control system is analyzed in detail. The complex disturbance rejection control strategy is proposed, which is mainly based on the precise linearization mathematical model of permanent magnet synchronous motor and the equivalent input disturbance estimation algorithm. In order to improve the anti-interference ability of the motor, the parameter change, the disturbance caused by the sudden change of the load and the external disturbance are estimated and compensated in order to improve the anti-interference ability of the motor. Combined with backstepping algorithm and feedforward control to the position servo control system of the motor, a compound controller is designed, which takes into account the stability of the system and the response speed of the instruction. In order to realize the high precision synchronization of the multi-motor, the controller is designed. Control. Based on the analysis of the basic structure and tension control principle of the fiber wrapping system, the synchronous control requirements of the fiber winding system to the servo motor and the position synchronization relationship between the winding motor are analyzed. Based on the comparison of different synchronous control methods, a four-motor bias coupling synchronous control system is established, and the winding motor is analyzed in detail. On the basis of the relationship between the synchronous error and the position compensation at the input of each motor, the problem that the fixed gain compensation can not give feedback to the change of system parameters is discussed. BP neural network is used to improve the position compensator of the system. Finally, the system is modeled and simulated in MATLAB/SIMULINK environment. The step performance, dynamic tracking performance, robustness and synchronization among the motors in the multi-motor synchronous control system are analyzed and compared by different control methods. The simulation results show that. The proposed control strategy can significantly improve the performance of the system. The dynamic tracking error of single motor and the synchronization error of multiple motors can be kept in the range of 卤0.02 rad. The control accuracy of the fiber winding motor is satisfied. The effectiveness of the proposed hybrid disturbance rejection control strategy and the BP neural network compensation strategy for multi-motor offset coupling synchronization control are verified.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN253;TP273

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