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

【摘要】：高速高精度運(yùn)動(dòng)平臺(tái)被廣泛應(yīng)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(shè)備等。隨著科技的發(fā)展，對(duì)高端數(shù)控裝備的要求也越來(lái)越高，給高速高精平臺(tái)及其伺服控制的設(shè)計(jì)帶來(lái)了極大的挑戰(zhàn)。因此本文面向高端數(shù)控裝備，對(duì)高速高精直線電機(jī)驅(qū)動(dòng)技術(shù)及其控制方法展開(kāi)了研究，這對(duì)加快我國(guó)制造產(chǎn)業(yè)的發(fā)展具有重要的理論意義與實(shí)際應(yīng)用價(jià)值。 本文針對(duì)直線電機(jī)數(shù)控系統(tǒng)實(shí)驗(yàn)平臺(tái)，對(duì)其系統(tǒng)誤差進(jìn)行補(bǔ)償，并重點(diǎn)研究了基于PID的直線電機(jī)控制方法，提出了帶前饋模糊PID控制方法，并利用直線電機(jī)數(shù)控系統(tǒng)實(shí)驗(yàn)平臺(tái)展開(kāi)實(shí)驗(yàn)，，成功地驗(yàn)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(diǎn)： (1)掌握直線電機(jī)高速高精平臺(tái)的結(jié)構(gòu)組成和驅(qū)動(dòng)特點(diǎn)，并建立永磁同步直線電機(jī)的數(shù)學(xué)模型。同時(shí)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(bǔ)償模型對(duì)直線電機(jī)數(shù)控系統(tǒng)實(shí)驗(yàn)平臺(tái)的系統(tǒng)誤差進(jìn)行一次性補(bǔ)償。 (2)對(duì)直線電機(jī)的PID、帶前饋的PID和模糊PID控制方法進(jìn)行了深入研究，并提出了一種適用于直線電機(jī)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(jī)伺服系統(tǒng)控制模型，并在MATLAB/SIMULINK軟件平臺(tái)上建立了對(duì)應(yīng)的仿真模型，進(jìn)而對(duì)四種控制方法分別開(kāi)展了單位階躍響應(yīng)和正弦響應(yīng)仿真實(shí)驗(yàn)。結(jié)果表明，帶前饋模糊PID控制方法的響應(yīng)速度快且控制精度高，較優(yōu)于其它三種控制方法。 (4)設(shè)計(jì)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(jī)伺服控制算法，并利用PMAC運(yùn)動(dòng)控制卡，實(shí)現(xiàn)各種控制方法對(duì)直線電機(jī)的控制。利用上述四種控制方法，在變負(fù)載下對(duì)直線電機(jī)進(jìn)行控制實(shí)驗(yàn)，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(jìn)行分析對(duì)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(shí)時(shí)地改變控制參數(shù)，具有很強(qiáng)的適應(yīng)性，且實(shí)驗(yàn)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(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM359.4

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