本文選題：CPLD + 速度測量��； 參考：《沈陽工業(yè)大學(xué)》2017年碩士論文

【摘要】：現(xiàn)代高精度伺服控制系統(tǒng)的關(guān)鍵技術(shù)之一就是傳感器的反饋精度。速度測量的準(zhǔn)確性直接影響了伺服系統(tǒng)的穩(wěn)定性和控制精度。增量式光電編碼器是目前伺服系統(tǒng)中使用最廣泛的傳感器,編碼器的線數(shù)越多,價格越高。而且編碼器信號中存在的干擾信號直接影響了速度測量的準(zhǔn)確性。本文著重研究伺服系統(tǒng)速度測量及反饋信號的抗干擾方法,在低線數(shù)的增量編碼器的基礎(chǔ)上,達(dá)到與高精度編碼器相同的測速精度,提高系統(tǒng)性能。首先,詳細(xì)了解編碼器的工作原理以及通用的測速方法,并研究國內(nèi)外測速方法的現(xiàn)狀。本文對高速、高精度、連續(xù)測量方案進行改進,加快測速結(jié)果的更新速率,解決低速時采集多個編碼器脈沖引起的速度更新慢的問題。詳細(xì)介紹了改進的高速、高精度、連續(xù)測量方案原理及其在CPLD中的實現(xiàn)方法,并在Quartus II 9.0軟件中完成了編譯、綜合和仿真。通過仿真結(jié)果可知,該方法的測速結(jié)果精度高,更新速率快,并且實現(xiàn)方法簡單可靠。其次,了解伺服系統(tǒng)速度反饋信號中的干擾來源以及國內(nèi)外抗干擾方法的研究現(xiàn)狀。詳細(xì)分析各類干擾信號的特點,對所有的干擾信號進行歸納、總結(jié)與分類。本文針對無偽干擾脈沖的干擾信號、碼盤縫隙邊緣引起的邊緣干擾信號以及反方向含偽干擾脈沖的干擾信號提出抗干擾方法,詳細(xì)介紹了抗干擾原理以及在CPLD中的實現(xiàn)方法,并完成編譯、綜合和仿真。通過仿真結(jié)果可知,該抗干擾方法可以很好的濾除速度反饋信號上包含的無偽干擾脈沖的干擾信號、碼盤縫隙邊緣引起的邊緣干擾信號以及反方向含偽干擾脈沖的干擾信號,為速度測量提供可靠的反饋信號,實現(xiàn)方法簡單可靠。最后,搭建實驗平臺進行驗證。通過實驗表明:在不同的編碼器信號頻率下,該抗干擾電路可以濾除編碼器信號中包含的無偽干擾脈沖的干擾信號、碼盤縫隙邊緣引起的邊緣干擾信號和反方向含偽干擾脈沖的干擾信號,且信號的延時基本為0,同時可以提高速度測量結(jié)果的精度;在測量2500線的普通增量式光電編碼器的轉(zhuǎn)速時,可以在5-2000r/min的范圍內(nèi)達(dá)到高精度的編碼器的測速精度,而且并不影響低速范圍內(nèi)的更新速度。綜上所述,本文采用的測速方法及反饋信號的抗干擾方法可以在伺服系統(tǒng)中發(fā)揮一定的作用。
[Abstract]:One of the key technologies of modern high-precision servo control system is the feedback accuracy of sensors. The accuracy of velocity measurement directly affects the stability and control accuracy of servo system. Incremental photoelectric encoder is the most widely used sensor in servo system. Moreover, the accuracy of speed measurement is directly affected by the interference signal in encoder signal. In this paper, the anti-interference method of speed measurement and feedback signal of servo system is studied. On the basis of incremental encoder with low line number, the speed measurement accuracy of high precision encoder is the same as that of high precision encoder, and the system performance is improved. Firstly, the working principle of encoder and the general speed measurement method are discussed in detail, and the present situation of speed measurement methods at home and abroad is studied. In this paper, the scheme of high speed, high precision and continuous measurement is improved to speed up the update rate of velocity measurement results, and to solve the problem of slow speed update caused by collecting multiple encoder pulses at low speed. The principle of the improved high speed, high precision and continuous measurement scheme and its implementation in CPLD are introduced in detail. The compilation, synthesis and simulation are completed in Quartus II 9.0 software. The simulation results show that this method has the advantages of high accuracy, fast updating rate and simple and reliable method. Secondly, the source of interference in speed feedback signal of servo system and the research status of anti-jamming methods at home and abroad are understood. The characteristics of all kinds of interference signals are analyzed in detail, and all interference signals are summarized, summarized and classified. In this paper, an anti-jamming method is proposed for the interference signal of no pseudo-interference pulse, the edge interference signal caused by the edge of the code disk slot and the interference signal with false interference pulse in the reverse direction. The anti-jamming principle and the realization method in CPLD are introduced in detail. And complete compilation, synthesis and simulation. The simulation results show that the anti-jamming method can filter the interference signal of the non-pseudo-interference pulse, the edge interference signal caused by the edge of the code disk slot and the interference signal with the false interference pulse in the reverse direction. It provides reliable feedback signal for velocity measurement, and the method is simple and reliable. Finally, the experimental platform is built for verification. The experimental results show that the anti-jamming circuit can filter the interference signal of the encoder signal without pseudo-interference pulse under different encoder signal frequency. The edge interference signal caused by the slot edge of the code disk and the interference signal with false interference pulse in the reverse direction, the delay of the signal is basically 0, and the accuracy of the speed measurement result can be improved. When measuring the rotational speed of the ordinary incremental photoelectric encoder with 2500 lines, the speed measurement accuracy of the high precision encoder can be achieved in the range of 5-2000r/min, and the update speed in the low speed range is not affected. In conclusion, the speed measurement method and the feedback signal anti-jamming method can play a role in the servo system.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM921.541

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