發(fā)布時間：2018-05-05 14:50

  本文選題：速度環(huán) + S型平滑器　； 參考：《西安電子科技大學(xué)》2014年碩士論文

【摘要】：速度環(huán)設(shè)計在伺服驅(qū)動器中是一個很重要的部分。本課題在速度環(huán)的設(shè)計上考慮了以下幾點:1)速度突變時會對系統(tǒng)造成沖擊。2)電機負載轉(zhuǎn)矩突變時,系統(tǒng)不能及時響應(yīng),負載抗干擾能力差。3)電機運行時機械結(jié)構(gòu)發(fā)生的共振現(xiàn)象和電機停止時發(fā)生的抖動現(xiàn)象,降低了系統(tǒng)的可用性�；谝陨峡紤],本課題對伺服驅(qū)動器的速度環(huán)進行設(shè)計。其中包括了S型平滑器、當前轉(zhuǎn)速測量、速度環(huán)PDFF控制和振動抑制。S型平滑器是對給定轉(zhuǎn)速命令的平滑化處理,減小給定轉(zhuǎn)速突變時給系統(tǒng)帶來的沖擊。當前轉(zhuǎn)速測量主要是利用永磁同步電機增量式編碼器進行當前轉(zhuǎn)速的測量,并對測量值進行濾波處理,使得當前轉(zhuǎn)速平滑緩慢變化。速度環(huán)PDFF控制是對轉(zhuǎn)速的控制,其在位置式PI控制算法的基礎(chǔ)上加了前饋環(huán)節(jié),目的是為了在有負載的情況下增加系統(tǒng)的響應(yīng)能力與抗干擾能力。振動抑制分為兩種:一、在不改變控制增益參數(shù)的情況下,對機械結(jié)構(gòu)發(fā)生的共振進行抑制,包括了共振抑制低通濾波、共振抑制陷波濾波。二、對電機在停止時發(fā)生的抖動進行抑制。此外,在速度環(huán)設(shè)置了過速度、編碼器異常等安全保護。目前設(shè)計的伺服驅(qū)動器經(jīng)過驗收,實現(xiàn)了對電機的速度控制。驗收結(jié)果表明轉(zhuǎn)速波動小,測速誤差小,控制效果良好,符合要求。
[Abstract]:The design of speed loop is an important part of servo driver. In the design of the speed loop, the following points: 1) the sudden change of speed will cause an impact on the system. 2) when the load torque of the motor changes, the system can not respond in time. The resonance of the mechanical structure and the jitter of the motor when the motor is stopped reduces the availability of the system. Based on the above considerations, this paper designs the speed loop of servo driver. It includes S-type smoother, current speed measurement, speed loop PDFF control and vibration suppression. S-type smoother is used to smooth the command of given speed to reduce the impact of sudden change of given speed on the system. The current speed measurement mainly uses the permanent magnet synchronous motor incremental encoder to measure the current speed and filter the measured value to make the current speed change smoothly and slowly. The speed loop PDFF control is the speed control. The feedforward link is added on the basis of the position Pi control algorithm in order to increase the response ability and the anti-interference ability of the system under the condition of the load. Vibration suppression is divided into two types: one is to suppress the resonance of mechanical structure without changing the control gain parameters, including resonance suppression low-pass filter, resonance suppression notch filter. Second, restrain the jitter of the motor when it stops. In addition, the speed loop is provided with overspeed, encoder exception and other security protection. The servo driver designed at present has been accepted and realized the speed control of the motor. The results show that the speed fluctuation is small, the measurement error is small, the control effect is good and meets the requirements.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM921.541

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相關(guān)期刊論文 前1條

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本文編號：1848115