轮步式机器人电动作动系统的研究

发布时间：2018-01-15 11:49

本文关键词：轮步式机器人电动作动系统的研究　出处：《江苏大学》2017年硕士论文　论文类型：学位论文

【摘要】：电动作动器是轮步式机器人的执行机构,通过伺服电机带动丝杠可实现机器人姿态控制,其工作性能直接影响到整个机身的平稳与安全。PMSM(永磁同步电机)以其能量密度高、动态响应特性好、运行可靠等优点,被广泛应用于电动作动系统。设计中采用三相PMSM作为电动作动系统的动力来源,并分析其工作原理、控制方法。本次论文研究与设计了三相PMSM伺服系统的硬件电路与DSP软件部分,并利用LabVIEW搭建了伺服系统的性能测试平台。通过实验波形曲线可知,本次设计的电动作动系统具有精度高、动态特性好、运行可靠等优点。本次研究与设计的内容包括以下几个部分:1.探讨了电动作动系统的功能、结构,研究了伺服系统的主要组成部分、发展现状与趋势。2.研究了三相PMSM的结构、工作原理与数学模型,探讨了常用的坐标变换:Clarke变换、Park变换。基于坐标变换理论、PMSM的数学模型,研究了三相PMSM的矢量控制方法与SVPWM的工作原理、实现步骤。分析了三相PMSM控制中位置、转速、电流环的简化传递函数,并设计了相应的控制器。在SIMULINK仿真环境中,搭建了三相PMSM矢量控制的模型,并通过对位置、转速环的仿真,验证了本次设计的正确性。3.设计了电动作动系统的软、硬件部分,硬件部分包括:控制器、电源滤波与电平转换、智能功率模块、信息采集等电路,DSP软件部分主要包括:矢量控制算法、三闭环算法、SVPWM、数据通信、转子速度/位置检测、模拟量采集。4.通过NI公司的LabVIEW软件,搭建了伺服系统性能测试平台。上位机通过RS-422总线与DSP进行数据通信,可完成指令发送、电机状态信息实时显示、存储等工作。5.软、硬件设计完成后,利用示波器对系统中重要模块进行了测试、分析。通过设计的LabVIEW测控系统,对伺服系统中位置环、转速环进行了动态性能测试,并分析了实验结果。
[Abstract]:Electric actuator is an actuator wheel walking robot, through the servo motor drive screw can realize robot attitude control, its performance directly affects the whole body's smooth and safe.PMSM (permanent magnet synchronous motor) with its high energy density, good dynamic response characteristics, the advantages of reliable operation, is widely used in electric the actuating system is adopted in the design of three-phase PMSM. As the power source of electric actuator system, and analyzes its working principle, control method. The research and design of hardware circuit and software DSP three-phase PMSM servo system, and use LabVIEW to build the test platform of servo system. Through the experimental waveform curves the design of the electric actuator system has the advantages of high precision, good dynamic performance, reliable operation and so on. The research and design of the contents are as follows: 1. discusses the electric actuator system The function, structure, research the main part of the servo system, the development status and trend of.2. on the structure of three-phase PMSM, working principle and mathematical model of coordinate transformation in common: Clarke transform, Park transform. Based on the theory of coordinate transformation, the mathematical model of PMSM, working principle, vector control method and SVPWM the study on the three-phase PMSM implementation steps. Analysis of the position, speed control of three-phase PMSM, simplify the current loop transfer function, and design the corresponding controller. In the SIMULINK simulation environment, build a vector control model of three-phase PMSM, and through the simulation of speed loop, position, verify the correctness of.3. the design of the design of the electric actuator system software and hardware, the hardware part includes: controller, power supply filter and level conversion, intelligent power module, information collection circuit, DSP software includes: vector control For the three algorithm, closed loop algorithm, SVPWM, data communication, rotor speed / position detection, analog acquisition of.4. by NI's LabVIEW software, built the servo system performance testing platform. The host computer data communication by RS-422 bus and DSP, can complete the command. The electric machine state information real-time display, storage and other work.5. the soft, hardware design is completed using oscilloscope to the main modules of the system were tested and analyzed. Through the design of LabVIEW control system, servo system loop, speed loop the dynamic performance test and analysis of the experimental results.

【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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