【摘要】：高性能的位置伺服系統(tǒng)是自動(dòng)化設(shè)備實(shí)現(xiàn)高精度生產(chǎn)加工的重要前提。永磁同步電機(jī)(PMSM)以其高動(dòng)態(tài)性能、高效率和輕量化等優(yōu)點(diǎn),與飛速發(fā)展的電力電子技術(shù)和微電子控制技術(shù)相結(jié)合獲得了優(yōu)異的性能�；谟来磐诫姍C(jī)的交流位置伺服系統(tǒng)已成為電機(jī)伺服驅(qū)動(dòng)系統(tǒng)的一個(gè)發(fā)展趨勢(shì)。交流位置伺服系統(tǒng)通常為傳統(tǒng)PID調(diào)節(jié)器控制的“三閉環(huán)”結(jié)構(gòu),對(duì)于PMSM這一非線(xiàn)性的控制對(duì)象,傳統(tǒng)PID調(diào)節(jié)器控制難以獲得較好的控制效果。模糊控制具有不依賴(lài)對(duì)象的數(shù)學(xué)模型、魯棒性強(qiáng)的特點(diǎn),很大程度上能夠克服系統(tǒng)模型參數(shù)的變化和非線(xiàn)性等不確定因素的影響。模糊PID控制器既具有傳統(tǒng)PID控制器的精度又有較強(qiáng)的抗干擾能力。鑒于模糊PI控制器的優(yōu)點(diǎn),本文將模糊PI控制器引入到交流位置伺服系統(tǒng)的位置環(huán),仿真實(shí)驗(yàn)表明位置環(huán)采用模糊PI控制器可以實(shí)現(xiàn)精確的位置控制并且提高了系統(tǒng)定位的快速性。設(shè)計(jì)以STM32F103單片機(jī)為控制核心的交流位置伺服驅(qū)動(dòng)系統(tǒng)的硬件電路,包括位置信號(hào)接收電路、逆變橋電路、電流采樣電路等,并搭建起交流位置伺服驅(qū)動(dòng)系統(tǒng)的硬件平臺(tái)。在此硬件平臺(tái)的基礎(chǔ)上設(shè)計(jì)系統(tǒng)的軟件,主要包括:上電初期完成電機(jī)起動(dòng),電流環(huán)、速度環(huán)和位置環(huán)的采樣與控制以及SVPWM策略的實(shí)現(xiàn)等。最后將所設(shè)計(jì)的軟件程序在硬件平臺(tái)上進(jìn)行測(cè)試,實(shí)驗(yàn)結(jié)果表明,位置環(huán)采用模糊PI控制器可實(shí)現(xiàn)較為精確的位置控制,并且相對(duì)于傳統(tǒng)PI控制而言定位的快速性更好。
[Abstract]:High-performance position servo system is an important prerequisite for automatic equipment to achieve high-precision production and processing. PMSM (permanent Magnet synchronous Motor) (PMSM) has excellent performance combined with the rapid development of power electronics and microelectronic control technology because of its high dynamic performance, high efficiency and lightweight. Ac position servo system based on permanent magnet synchronous motor (PMSM) has become a developing trend of motor servo drive system. The AC position servo system is usually the "three closed loop" structure of the traditional PID regulator control. For the nonlinear control object of PMSM, the traditional PID regulator control is difficult to obtain better control effect. Fuzzy control has the characteristics of independent mathematical model, strong robustness, and can overcome the influence of uncertain factors, such as the variation of system model parameters and the nonlinearity to a great extent. Fuzzy PID controller not only has the precision of traditional PID controller, but also has strong anti-interference ability. In view of the advantages of fuzzy PI controller, the fuzzy PI controller is introduced into the position loop of AC position servo system. The simulation results show that the fuzzy PI controller can achieve accurate position control and improve the speed of positioning. The hardware circuit of AC position servo drive system based on STM32F103 microcontroller is designed, including position signal receiving circuit, inverter bridge circuit, current sampling circuit and so on, and the hardware platform of AC position servo drive system is built. On the basis of the hardware platform, the software of the system is designed, which includes: starting motor, sampling and controlling the current loop, speed loop and position loop, and the realization of SVPWM strategy. Finally, the software program is tested on the hardware platform. The experimental results show that the position loop with fuzzy PI controller can achieve more accurate position control, and compared with the traditional PI control, the positioning speed is better.
【學(xué)位授予單位】：西安理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TM921.541

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