本文選題：模糊PID　切入點：前饋控制　出處：《合肥工業(yè)大學》2014年碩士論文　論文類型：學位論文

【摘要】：高速高精度運動平臺被廣泛應用于高端數(shù)控裝備，如高檔數(shù)控加工中心、航空航天制造裝備和IC封裝設備等。隨著科技的發(fā)展，對高端數(shù)控裝備的要求也越來越高，給高速高精平臺及其伺服控制的設計帶來了極大的挑戰(zhàn)。因此本文面向高端數(shù)控裝備，對高速高精直線電機驅(qū)動技術(shù)及其控制方法展開了研究，這對加快我國制造產(chǎn)業(yè)的發(fā)展具有重要的理論意義與實際應用價值。 本文針對直線電機數(shù)控系統(tǒng)實驗平臺，對其系統(tǒng)誤差進行補償，并重點研究了基于PID的直線電機控制方法，提出了帶前饋模糊PID控制方法，并利用直線電機數(shù)控系統(tǒng)實驗平臺展開實驗，，成功地驗證了帶前饋模糊PID控制方法的優(yōu)越性。本文的主要內(nèi)容及成果有以下幾點： (1)掌握直線電機高速高精平臺的結(jié)構(gòu)組成和驅(qū)動特點，并建立永磁同步直線電機的數(shù)學模型。同時為了減少由于制造和裝配等引起的系統(tǒng)誤差，采用分段線性誤差補償模型對直線電機數(shù)控系統(tǒng)實驗平臺的系統(tǒng)誤差進行一次性補償。 (2)對直線電機的PID、帶前饋的PID和模糊PID控制方法進行了深入研究，并提出了一種適用于直線電機伺服控制的帶前饋模糊PID控制方法。 (3)分別建立了基于PID、帶前饋的PID、模糊PID和帶前饋模糊PID控制方法的直線電機伺服系統(tǒng)控制模型，并在MATLAB/SIMULINK軟件平臺上建立了對應的仿真模型，進而對四種控制方法分別開展了單位階躍響應和正弦響應仿真實驗。結(jié)果表明，帶前饋模糊PID控制方法的響應速度快且控制精度高，較優(yōu)于其它三種控制方法。 (4)設計并編寫出了基于PID、帶前饋的PID、模糊PID和帶前饋模糊PID的直線電機伺服控制算法，并利用PMAC運動控制卡，實現(xiàn)各種控制方法對直線電機的控制。利用上述四種控制方法，在變負載下對直線電機進行控制實驗，將帶前饋模糊PID控制方法與其它三種控制方法的控制效果進行分析對比，結(jié)果表明：帶前饋模糊PID控制方法既可避免靜態(tài)誤差，減小跟蹤誤差，又不依賴于精確的控制模型，可根據(jù)工作環(huán)境實時地改變控制參數(shù)，具有很強的適應性，且實驗結(jié)果與理論分析及仿真結(jié)果具有較好一致性。
[Abstract]:High-speed and high-precision motion platform is widely used in high-end numerical control equipment, such as high-grade NC machining center, aerospace manufacturing equipment and IC packaging equipment, etc. With the development of science and technology, the requirements for high-end numerical control equipment are becoming higher and higher. It brings great challenge to the design of high speed and high precision platform and its servo control. Therefore, the driving technology and control method of high speed and high precision linear motor are studied in this paper. This has important theoretical significance and practical application value to accelerate the development of our country's manufacturing industry. In this paper, aiming at the experiment platform of linear motor numerical control system, the system error is compensated, and the control method of linear motor based on PID is studied, and the fuzzy PID control method with feedforward is proposed. The advantages of fuzzy PID control method with feedforward are successfully verified by using the experiment platform of linear motor numerical control system. The main contents and results of this paper are as follows:. 1) mastering the structure composition and driving characteristics of the high speed and high precision platform of linear motor, and establishing the mathematical model of permanent magnet synchronous linear motor. At the same time, in order to reduce the system error caused by manufacture and assembly, etc. The piecewise linear error compensation model is used to compensate the system error of the experiment platform of linear motor numerical control system. In this paper, the PID and fuzzy PID control methods with feedforward for linear motor are studied, and a fuzzy PID control method with feedforward for linear motor servo control is proposed. The control model of linear motor servo system based on PID-PID-feedforward, fuzzy PID and feedforward fuzzy PID control method is established, and the corresponding simulation model is established on the platform of MATLAB/SIMULINK software. The simulation experiments of unit step response and sinusoidal response of four control methods are carried out respectively. The results show that the fuzzy PID control method with feedforward is faster in response speed and higher in control accuracy than the other three control methods. The servo control algorithm of linear motor with feedforward, fuzzy PID and feedforward fuzzy PID is designed and written, and the PMAC motion control card is used to realize the control of linear motor. In the control experiment of linear motor under variable load, the control effect of fuzzy PID control method with feedforward and other three control methods is analyzed and compared. The results show that the fuzzy PID control method with feedforward can avoid static error. The control parameters can be changed in real time according to the working environment, and the experimental results are in good agreement with the theoretical analysis and simulation results.
【學位授予單位】：合肥工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM359.4

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