本文選題：永磁同步電機 + STM32�。� 參考：《西安建筑科技大學(xué)》2016年碩士論文

【摘要】：隨著信息技術(shù)與智慧技術(shù)的結(jié)合,推動了制造業(yè)向智能化發(fā)展轉(zhuǎn)型,重點就是突破智能機器人核心技術(shù),攻克傳感器、伺服驅(qū)動器等關(guān)鍵零部件。高效和精確的伺服驅(qū)動器可以引導(dǎo)機器人精密操作,有效降低在生產(chǎn)過程中的生產(chǎn)誤差,這對伺服控制系統(tǒng)提出了更高的要求。本文主要任務(wù)是以為控制核心,采用空間矢量脈寬調(diào)制()結(jié)合矢量控制的原理,搭建電流環(huán)、速度環(huán)和位置環(huán)的三閉環(huán)交流永磁同步伺服控制系統(tǒng),主要工作內(nèi)容包括:首先,介紹永磁同步電機的原理、坐標(biāo)變換和空間矢量脈寬調(diào)制技術(shù)等相關(guān)知識,在此基礎(chǔ)上建立基于坐標(biāo)系的交流永磁同步電機伺服控制系統(tǒng)數(shù)學(xué)模型,并最終選取了基于的轉(zhuǎn)子磁場定向控制方式,確立了基于的三閉環(huán)伺服控制系統(tǒng)的實施方案。其次,針對系統(tǒng)快速性、穩(wěn)定性和定位精度等性能要求,設(shè)計了基于的三閉環(huán)伺服控制系統(tǒng)。為了提高系統(tǒng)快速性和定位精度,電流環(huán)和速度環(huán)分別采用控制,而位置環(huán)則采用模糊自適應(yīng)控制的控制策略。并在中建立數(shù)學(xué)模型,并重點說明矢量控制算法。同時針對系統(tǒng)性能的要求,分別進行電流環(huán)、速度環(huán)和位置環(huán)仿真實驗,同時討論系統(tǒng)的動態(tài)響應(yīng)問題。然后,依據(jù)仿真得出的結(jié)果,設(shè)計了基于伺服控制系統(tǒng)軟硬件平臺,硬件主要包括主電路、功率驅(qū)動電路、電流檢測、位置脈沖檢測電路和控制電源等;在!開發(fā)環(huán)境下采用"語言為主體的編程方式進行永磁同步電機伺服控制系統(tǒng)的軟件的開發(fā)。最后,對系統(tǒng)的各模塊進行調(diào)試,并利用示波器和等輔助軟件對系統(tǒng)性能進行分析,結(jié)果表明,基于的三閉環(huán)伺服控制系統(tǒng)能夠滿足高性能伺服系統(tǒng)的快速性、穩(wěn)定性和定位精度等基本控制要求,為后續(xù)更進一步研究奠定基礎(chǔ)。
[Abstract]:With the combination of information technology and intelligent technology, the manufacturing industry has been transformed to intelligent development. The emphasis is to break through the core technology of intelligent robot, conquer the key parts such as sensors, servo drivers and so on. The high efficiency and precision servo driver can guide the robot to operate precisely and reduce the production error effectively, which puts forward higher request to the servo control system. The main task of this paper is to set up three closed-loop AC PMSS servo control systems, which are current loop, velocity loop and position loop, using space vector pulse width modulation (SVPWM) combined with the principle of vector control. The main work includes: first of all, This paper introduces the principle of permanent magnet synchronous motor (PMSM), coordinate transformation and space vector pulse width modulation (SVPWM) technology. On this basis, the mathematical model of AC PMSM servo control system based on coordinate system is established. Finally, based on the rotor flux oriented control method, the implementation scheme of the three-loop servo control system based on the three-loop servo control system is established. Secondly, a three-loop servo control system based on three-loop servo control is designed to meet the requirements of system speed, stability and positioning accuracy. In order to improve the system speed and positioning accuracy, the current loop and the velocity loop are controlled respectively, while the position loop adopts the fuzzy adaptive control strategy. The mathematical model is established in this paper, and the vector control algorithm is emphasized. At the same time, the simulation experiments of current loop, velocity loop and position loop are carried out to meet the requirements of system performance. The dynamic response of the system is also discussed. Then, according to the simulation results, the hardware and software platform based on servo control system is designed. The hardware includes main circuit, power drive circuit, current detection, position pulse detection circuit and control power supply. The software of PMSM servo control system is developed by using language as the main programming method in the development environment. Finally, every module of the system is debugged, and the performance of the system is analyzed by oscilloscope and iso-auxiliary software. The results show that the three-loop servo control system based on the three-loop servo control system can satisfy the high performance servo system's rapidity. The basic control requirements such as stability and positioning accuracy lay a foundation for further study.
【學(xué)位授予單位】：西安建筑科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TM341;TM921.541
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本文編號：2041251