基于音圈电机的力与位置混合控制系统研究

发布时间：2018-03-18 17:11

本文选题：音圈电机　切入点：前馈控制　出处：《青岛大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着微电机,传感器及其现代控制技术的发展,电机驱动系统逐渐趋于集成化与精密化,而各种高性能控制系统的推陈出新,也使得音圈电机驱动系统的发展到达了新高度。近几年来,先进PID控制算法在MCU实现上逐渐趋于成熟,且精度与稳定性上表现良好,因此,在产业化的同时稳固了其优势地位。较传统两相直流驱动控制系统相比,音圈电机驱动控制系统在结构上与之相似,因其电机推力波动小,响应快,推力系数恒定,在抗干扰及快速响应方面,采用微分先行方式对扰动加以抑制,并引入前馈控制提高系统抗扰特性,而后以模糊整定PID参数方式保证其控制质量。仿真表明,该控制方式能有效提高控制精度及控制稳定性。本文主要研究卡扣机构的工件安装。并可分为三个工作过程:电机复位、平稳运行、将卡扣工件A与B进行固定。其中,电机复位是为位置标定与往复运动而设计的;而平稳运行则根据速度差异分为快速移动到达设定区域和缓慢移动到达工件表面两个运动过程,两运动过程主要以位置控制为主。在高速进给与低速放置之间采用位置判断切换控制方式,保证系统高效运行。在接触工件表面后,为使其工件无挤压、损坏现象发生,在渐进增大推力的同时,通过位置实时监控达到力位混合控制效果,保证在低速位移持续加力与瞬间高速电机急停操作。实验表明,该控制方式有效的实现了工件快速进给、软着陆及紧固的相关工艺流程。
[Abstract]:With the development of micromotor, sensor and its modern control technology, the motor drive system is becoming more and more integrated and precise. In recent years, the advanced PID control algorithm is becoming mature in MCU implementation, and the accuracy and stability are good. Compared with the traditional two-phase direct current drive control system, the voice coil motor drive control system is similar in structure because of its low thrust fluctuation, fast response and constant thrust coefficient. In the aspect of anti-jamming and fast response, the disturbance is suppressed by differential first method, and the disturbance rejection characteristic is improved by introducing feedforward control, and the control quality is guaranteed by fuzzy tuning PID parameters. This control method can effectively improve the control accuracy and control stability. This paper mainly studies the workpiece installation of the buckle mechanism. It can be divided into three working processes: motor reset, smooth operation, fastening A and B of buckle workpiece. The motor reset is designed for the position calibration and reciprocating motion, and the smooth operation is divided into two moving processes according to the velocity difference: fast moving to the set area and slow moving to the surface of the workpiece. The two motion processes are mainly controlled by position. Position judgment switching control is adopted between high speed feed and low speed placement to ensure the high efficiency of the system. After contact with the surface of the workpiece, in order to make the workpiece have no extrusion, the phenomenon of damage occurs. At the same time of increasing the thrust gradually, the effect of hybrid control of force and position is achieved by real-time monitoring of position, which ensures the continuous adding force at low speed displacement and the sudden stop operation of high speed motor. The experiment shows that the control method can effectively realize the rapid feed of the workpiece. Soft landing and fastening process.
【学位授予单位】：青岛大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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