本文選題：永磁同步直線電機　切入點：前饋控制　出處：《中北大學(xué)》2016年碩士論文

【摘要】：永磁同步直線電機越來越多地應(yīng)用于高速高精度的定位系統(tǒng)中。永磁直線電機驅(qū)動方式不需要中間轉(zhuǎn)換環(huán)節(jié),可直接提供直線運動,從而減少了因傳動鏈而引入的誤差,無需接觸便可提供驅(qū)動力,進而得到較高的運行速度和較高的重復(fù)定位精度,使系統(tǒng)較為穩(wěn)定。但正是由于直驅(qū)進給系統(tǒng)省去了中間轉(zhuǎn)換環(huán)節(jié),使得系統(tǒng)容易被外界擾動因素(如摩擦力、推力波動等)所影響,降低了系統(tǒng)的動態(tài)精度,容易引起系統(tǒng)不穩(wěn)定,限制了永磁同步直線電機的應(yīng)用。同時,僅采用反饋控制會出現(xiàn)電機響應(yīng)滯后的問題,影響了電機的跟蹤精度。因此有必要對抑制摩擦擾動和推力波動擾動的影響的方法以及對提高系統(tǒng)跟蹤精度方法進行研究。本文首先基于dSPACE1103和Copley Xenus型驅(qū)動器搭建了電機的運動控制系統(tǒng)。對于推力波動擾動的抑制問題,通過分析推力波動特性,基于位置域頻率和初相位信息建立了推力波動數(shù)學(xué)模型。電機在不同速度下運行時基于遺傳算法辨識方法分別確定了實驗直線電機的推力波動模型參數(shù),以此設(shè)計推力波動前饋補償器,實現(xiàn)直線電機的推力波動抑制。對于摩擦擾動的抑制問題,首先分析摩擦特性,選用Gauss摩擦模型。其次設(shè)計電機速度前饋控制器和加速度前饋控制器,仿真實驗表明,加入速度和加速前饋后電機的最大位置跟蹤誤差明顯下降。根據(jù)電機在不同速度下測得的摩擦力值,運用差分進化算法辨識出直線電機的摩擦模型參數(shù),以此設(shè)計摩擦前饋補償器,實現(xiàn)永磁同步直線電機的摩擦抑制。針對純反饋所引起的位置跟蹤誤差大的問題,根據(jù)前期電機調(diào)試的經(jīng)驗,結(jié)合模糊推理方式為Mamdani推理法的模糊邏輯理論,設(shè)計了帶可調(diào)因子的模糊邏輯前饋控制器。應(yīng)用該前饋控制器,經(jīng)仿真分析可得,電機的最大位置跟蹤誤差從原先的17.8μm降到1μm;將其加載到電機實驗控制系統(tǒng)中,測得電機最大位置跟蹤誤差從18.3μm降到了4.3μm,驗證了該方法的有效性。本文以永磁同步直線電機為被控對象搭建了運動仿真分析系統(tǒng)和實驗平臺,研究了對影響系統(tǒng)跟蹤性能的摩擦力和推力波動進行抑制的方法,并基于模糊邏輯理論設(shè)計了帶可調(diào)因子的模糊邏輯前饋控制器。這有助于提高直驅(qū)進給系統(tǒng)的伺服性能,對于直驅(qū)進給系統(tǒng)的應(yīng)用是有意義、有價值的。
[Abstract]:Permanent magnet linear synchronous motor (PMSM) is more and more used in high speed and high precision positioning system. The driving force can be provided without contact, and then higher running speed and high repeatable positioning accuracy can be obtained, which makes the system more stable. However, it is precisely because the direct drive feed system saves the intermediate conversion link, The system is easily affected by external disturbance factors (such as friction, thrust fluctuation, etc.), which reduces the dynamic precision of the system, easily leads to the instability of the system, and limits the application of the permanent magnet synchronous linear motor (PMSM). Only feedback control will lead to the problem of motor response lag. Therefore, it is necessary to study the methods of restraining friction disturbance and thrust fluctuation disturbance and to improve the tracking accuracy of the system. Firstly, this paper is based on dSPACE1103 and Copley Xenus driver. The motion control system of the motor is presented. By analyzing the characteristics of thrust fluctuation, Based on the position domain frequency and initial phase information, the mathematical model of thrust fluctuation is established, and the parameters of thrust fluctuation model of experimental linear motor are determined based on genetic algorithm identification method when the motor is running at different speeds. A feedforward compensator for thrust fluctuation is designed to suppress the thrust fluctuation of linear motor. The Gauss friction model is selected. Secondly, the speed feedforward controller and acceleration feedforward controller are designed, and the simulation results show that, The maximum position tracking error of the motor decreases obviously after adding speed and acceleration feedforward. According to the friction force measured by the motor at different speeds, the friction model parameters of linear motor are identified by differential evolution algorithm. The friction feedforward compensator is designed to suppress friction of permanent magnet synchronous linear motor. Aiming at the problem of large position tracking error caused by pure feedback, according to the experience of the previous motor debugging, A fuzzy logic feedforward controller with adjustable factors is designed based on the fuzzy logic theory of Mamdani reasoning method. The maximum position tracking error of the motor is reduced from 17.8 渭 m to 1 渭 m. The maximum position tracking error is reduced from 18.3 渭 m to 4.3 渭 m, which verifies the effectiveness of this method. In this paper, a motion simulation analysis system and an experimental platform for permanent magnet synchronous linear motor (PMSM) are built. In this paper, the method of restraining friction and thrust fluctuation affecting the tracking performance of the system is studied, and a fuzzy logic feedforward controller with adjustable factors is designed based on the fuzzy logic theory, which is helpful to improve the servo performance of the direct drive feed system. It is meaningful and valuable to the application of direct drive feed system.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TM359.4

【參考文獻】

相關(guān)期刊論文 前10條

1 張繼東;;永磁直線同步電動機推力波動抑制[J];微特電機;2015年07期

2 孔小兵;劉向杰;;永磁同步電機高效非線性模型預(yù)測控制[J];自動化學(xué)報;2014年09期

3 牟恩旭;馬振群;馮斌;任建功;;利用數(shù)控機床換向特性分析的摩擦誤差補償方法[J];西安交通大學(xué)學(xué)報;2014年08期

4 馮斌;梅雪松;楊軍;黃曉勇;;摩擦補償脈沖特征參數(shù)的自適應(yīng)配置方法[J];上海交通大學(xué)學(xué)報;2014年05期

5 王福忠;張利敏;;基于迭代算法的PMLSM推力波動抑制策略[J];計算機仿真;2014年05期

6 李立毅;祝賀;劉家曦;馬明娜;;初級繞組分段永磁直線電機段間推力優(yōu)化控制[J];電機與控制學(xué)報;2014年04期

7 王麗梅;李鑫;;直接驅(qū)動XY平臺的零相位自適應(yīng)魯棒控制[J];沈陽工業(yè)大學(xué)學(xué)報;2014年02期

8 唐傳勝;戴躍洪;;無速度傳感器永磁同步直線電機伺服系統(tǒng)的自適應(yīng)魯棒控制[J];組合機床與自動化加工技術(shù);2013年11期

9 劉柏希;姚昊雄;聶松輝;;基于區(qū)間分析的LuGre摩擦模型參數(shù)辨識方法[J];中國機械工程;2013年19期

10 馮斌;梅雪松;楊軍;牟恩旭;;數(shù)控機床摩擦誤差自適應(yīng)補償方法研究[J];西安交通大學(xué)學(xué)報;2013年11期

相關(guān)碩士學(xué)位論文 前7條

1 徐斌;永磁同步電機矢量控制系統(tǒng)研究[D];南京理工大學(xué);2014年

2 林雪;基于LuGre摩擦模型的參數(shù)辨識與補償控制研究[D];濟南大學(xué);2013年

3 胡超杰;差分進化算法及其在電機參數(shù)辨識中的應(yīng)用研究[D];湖南大學(xué);2013年

4 劉巍;大推力永磁直線電機驅(qū)動控制系統(tǒng)研究與開發(fā)[D];華中科技大學(xué);2011年

5 苑士鑫;基于直線電機的驅(qū)動控制研究[D];哈爾濱工業(yè)大學(xué);2009年

6 孫宗宇;永磁同步直線電機的矢量控制[D];蘭州理工大學(xué);2009年

7 湯新舟;永磁同步電機的矢量控制系統(tǒng)[D];浙江大學(xué);2005年

，

本文編號：1677777