發(fā)布時(shí)間：2018-10-14 14:26

【摘要】：行波超聲電機(jī)具有低速大轉(zhuǎn)矩、無電磁干擾、定位精度高、響應(yīng)速度快等特點(diǎn),其應(yīng)用引起廣泛關(guān)注。但其具有非線性和參數(shù)時(shí)變性等特征,給其高性能控制帶來困難,影響了其在航天領(lǐng)域的應(yīng)用。本文在分析了超聲電機(jī)運(yùn)行機(jī)理的基礎(chǔ)上,建立了超聲電機(jī)兩相驅(qū)動(dòng)電路模型,設(shè)計(jì)了基于相位差的超聲電機(jī)速度/位置模糊自整定PID控制系統(tǒng),以提高超聲電機(jī)的動(dòng)態(tài)性能。(1)分析了超聲電機(jī)運(yùn)行機(jī)理,包括超聲電機(jī)定子表面行波的產(chǎn)生機(jī)理和定子表面質(zhì)點(diǎn)的橢圓運(yùn)動(dòng)分析。運(yùn)行機(jī)理表明,改變驅(qū)動(dòng)電壓頻率、幅值和相位差,可以改變電機(jī)轉(zhuǎn)速。并在此基礎(chǔ)上,對(duì)比分析了三種調(diào)速方法各自的優(yōu)缺點(diǎn);基于壓電振子自由振動(dòng)的系統(tǒng)方程,利用等效電路法,建立了超聲電機(jī)兩相等效電路模型,為驅(qū)動(dòng)電路模型的建立和驅(qū)動(dòng)方式的選擇奠定基礎(chǔ)。(2)給出了超聲電機(jī)兩相驅(qū)動(dòng)電路模型和基于模型的超聲電機(jī)驅(qū)動(dòng)特性分析結(jié)果。將串聯(lián)匹配方式和LLCC匹配方式應(yīng)用于建立的超聲電機(jī)驅(qū)動(dòng)電路模型中,給出了基于經(jīng)驗(yàn)公式與仿真分析相結(jié)合的超聲電機(jī)匹配電感設(shè)計(jì)方法;建立了超聲電機(jī)單相和兩相驅(qū)動(dòng)電路仿真模型。仿真結(jié)果表明,LLCC匹配方式能夠有效的解決電壓幅值不一致問題,實(shí)現(xiàn)較好匹配;基于仿真模型,進(jìn)行了超聲電機(jī)驅(qū)動(dòng)特性分析;給出了基于TMS320F2812 DSP芯片的超聲電機(jī)驅(qū)動(dòng)電路硬件設(shè)計(jì)方案。實(shí)驗(yàn)分析表明,驅(qū)動(dòng)電路輸出波形好,信號(hào)穩(wěn)定,雜波干擾少。(3)針對(duì)超聲電機(jī)難以建立精確的數(shù)學(xué)模型、單一控制策略難以滿足高性能要求等問題,給出了超聲電機(jī)模糊自整定PID控制系統(tǒng)設(shè)計(jì)方案,構(gòu)建了基于電壓相位差的超聲電機(jī)速度/位置模糊自整定PID控制模型;提出一種改變超聲電機(jī)兩相電壓信號(hào)的相位差實(shí)現(xiàn)調(diào)速的方法,建立了超聲電機(jī)模糊自整定PID控制仿真模型。仿真結(jié)果表明:與常規(guī)PID控制器相比,模糊自整定PID控制調(diào)節(jié)時(shí)間短0.002 s、超調(diào)量減小了23%,抗干擾能力也優(yōu)于傳統(tǒng)PID控制器;模糊自整定PID位置控制階躍響應(yīng)速度快,過渡平穩(wěn),跟蹤目標(biāo)值效果較好。
[Abstract]:Traveling wave ultrasonic motor (TWUSM) has many advantages, such as low speed and large torque, no electromagnetic interference, high positioning accuracy and fast response speed. However, it has the characteristics of nonlinearity and time-varying parameters, which makes it difficult to control its high performance and affects its application in aerospace field. On the basis of analyzing the operation mechanism of ultrasonic motor, the two-phase driving circuit model of ultrasonic motor is established, and the speed / position fuzzy self-tuning PID control system of ultrasonic motor based on phase difference is designed. In order to improve the dynamic performance of ultrasonic motor. (1) the operating mechanism of ultrasonic motor is analyzed, including the generating mechanism of traveling wave on stator surface and the elliptical motion analysis of stator surface particle. The operating mechanism shows that the motor speed can be changed by changing the driving voltage frequency, amplitude and phase difference. Based on the system equation of free vibration of piezoelectric vibrator and the equivalent circuit method, the two-phase equivalent circuit model of ultrasonic motor is established. It lays a foundation for the establishment of driving circuit model and the choice of driving mode. (2) the two-phase driving circuit model of ultrasonic motor and the analysis results of driving characteristics of ultrasonic motor based on model are given. The series matching and LLCC matching are applied to the driving circuit model of ultrasonic motor. The design method of ultrasonic motor matching inductance based on the combination of empirical formula and simulation analysis is presented. The single-phase and two-phase driving circuit simulation models of ultrasonic motor are established. The simulation results show that the LLCC matching method can effectively solve the problem of voltage amplitude inconsistency and achieve better matching, and based on the simulation model, the driving characteristics of ultrasonic motor are analyzed. The hardware design of ultrasonic motor drive circuit based on TMS320F2812 DSP chip is presented. The experimental results show that the driving circuit has good output waveform, stable signal and less clutter interference. (3) it is difficult to establish accurate mathematical model for ultrasonic motor, and the single control strategy is difficult to meet the requirements of high performance. The design scheme of fuzzy self-tuning PID control system for ultrasonic motor is presented, and the speed / position fuzzy self-tuning PID control model of ultrasonic motor based on voltage phase difference is constructed. This paper presents a method to adjust the speed of ultrasonic motor by changing the phase difference of two phase voltage signals. The simulation model of fuzzy self-tuning PID control for ultrasonic motor is established. The simulation results show that compared with the conventional PID controller, the control time of fuzzy self-tuning PID is 0.002 s shorter, the overshoot is reduced by 23s, the anti-jamming ability is better than the traditional PID controller, the step response speed of fuzzy self-tuning PID position control is faster and the transition is stable. Tracking target values are effective.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273;TM359.9

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本文編號(hào)：2270747