本文選題：永磁同步電機(jī)伺服驅(qū)動(dòng)系統(tǒng) + 接力式數(shù)字測(cè)速��； 參考：《大連理工大學(xué)》2014年博士論文

【摘要】：永磁同步電機(jī)伺服驅(qū)動(dòng)系統(tǒng)作為大多數(shù)自動(dòng)化裝備的最終執(zhí)行部件,其性能好壞直接決定整套裝備的性能優(yōu)劣。隨著裝備制造業(yè)的快速發(fā)展,對(duì)伺服驅(qū)動(dòng)系統(tǒng)提出了高速度、高精度和高效率的性能要求。 永磁同步電機(jī)驅(qū)動(dòng)系統(tǒng)是一個(gè)復(fù)雜的光機(jī)電一體化系統(tǒng),其性能提升和多方面因素相關(guān)。例如：由于增量式光電編碼器輸出脈沖提供的反饋信息有限,如何充分利用脈沖獲取較高精度的速度和位置信息,是提高伺服性能的一項(xiàng)重要研究?jī)?nèi)容；傳動(dòng)部件的彈性引起的機(jī)械諧振限制了系統(tǒng)帶寬,易引起系統(tǒng)不穩(wěn)定,機(jī)械諧振已成為高性能伺服驅(qū)動(dòng)亟待解決的關(guān)鍵問題之一；模擬電壓或脈沖形式的指令接口存在抗干擾性差,信息容量有限等諸多局限性,而標(biāo)準(zhǔn)高速現(xiàn)場(chǎng)總線的研發(fā)應(yīng)用受限于其技術(shù)壟斷性和較高的價(jià)格,為滿足伺服驅(qū)動(dòng)系統(tǒng)高實(shí)時(shí)性大信息量的通信需求,有必要尋求一種高性價(jià)比、強(qiáng)實(shí)時(shí)性的總線接口解決方案；過熱是電機(jī)絕緣損壞最主要的原因,但過度熱保護(hù)會(huì)限制電機(jī)帶載能力,影響電機(jī)利用率,為充分發(fā)揮電機(jī)的帶載能力從而提高驅(qū)動(dòng)系統(tǒng)的運(yùn)行效率,恰當(dāng)可靠的熱保護(hù)方法具有重要的現(xiàn)實(shí)意義。 本文以提高永磁同步伺服驅(qū)動(dòng)系統(tǒng)性能為目標(biāo),在速度和位置測(cè)量方法、機(jī)械諧振抑制、總線接口技術(shù)和電機(jī)實(shí)時(shí)熱模型保護(hù)等關(guān)鍵技術(shù)方面開展了一些理論研究和工程實(shí)踐工作,主要內(nèi)容如下： 為充分利用增量式編碼器脈沖提供的反饋信息,提出了接力式數(shù)字測(cè)速方法和動(dòng)態(tài)位置細(xì)分技術(shù)以及瞬時(shí)速度的線性估算方法。通過編碼器脈沖上升沿同步采樣時(shí)鐘,提出實(shí)際采樣點(diǎn)始終先于周期采樣點(diǎn)的接力式檢測(cè)方法,研究了接力式數(shù)字測(cè)速法的硬件和軟件實(shí)現(xiàn)途徑,并分析了該測(cè)速方法的特點(diǎn)和性能。為提高動(dòng)態(tài)位置分辨率,提出單個(gè)脈沖在時(shí)間上進(jìn)行細(xì)分的動(dòng)態(tài)位置細(xì)分算法。為獲得及時(shí)準(zhǔn)確的速度信息,研發(fā)出相鄰兩個(gè)速度測(cè)量值線性估算瞬時(shí)速度的方法。 構(gòu)建了基于FxLMS的諧振抑制控制結(jié)構(gòu),提出了加速LMS收斂的質(zhì)點(diǎn)阻尼落體算法。為加速自適應(yīng)算法的收斂速度,用重力場(chǎng)中質(zhì)點(diǎn)阻尼落體比擬濾波器權(quán)系數(shù)尋優(yōu)的行為,提出了質(zhì)點(diǎn)阻尼落體算法,并分析了其控制參數(shù)的取值范圍。從理論和實(shí)踐上分析證明了所提結(jié)構(gòu)具有較好的跟隨性和魯棒性,可以對(duì)機(jī)械諧振進(jìn)行有效抑制。 針對(duì)高性能伺服驅(qū)動(dòng)系統(tǒng)遇到的通信瓶頸問題,研究了一套實(shí)時(shí)以太網(wǎng)的主從站控制器的完整解決方案,重點(diǎn)探究增強(qiáng)總線實(shí)時(shí)性的方法和措施。采用捷徑傳輸機(jī)制降低從站控制器的數(shù)據(jù)流處理延遲,從而縮短通信循環(huán)周期。規(guī)劃的時(shí)間同步方案,設(shè)計(jì)的基于比例積分調(diào)節(jié)器的鎖相環(huán),提高了主從時(shí)鐘同步精度,滿足數(shù)控系統(tǒng)等同步性能要求高的應(yīng)用需求。 基于永磁同步電機(jī)的傳熱機(jī)制和物理結(jié)構(gòu),建立了一種實(shí)時(shí)熱模型,實(shí)現(xiàn)了電機(jī)在線溫度預(yù)測(cè)。提出了基于電機(jī)轉(zhuǎn)速和電流的鐵心損耗計(jì)算方法,引入一可變熱阻模擬電機(jī)自身冷卻能力隨轉(zhuǎn)速改變的變化趨勢(shì)。研究模型參數(shù)的確定方法和實(shí)現(xiàn)電機(jī)熱保護(hù)的軟件流程,并通過實(shí)驗(yàn)驗(yàn)證了溫度預(yù)測(cè)的準(zhǔn)確性和熱保護(hù)的有效性。 構(gòu)建了驅(qū)動(dòng)系統(tǒng)的軟硬件平臺(tái),重點(diǎn)研究以上關(guān)鍵技術(shù)的有機(jī)集成方法。并通過車床的兩軸圓弧插補(bǔ)實(shí)驗(yàn),驗(yàn)證了集成后伺服驅(qū)動(dòng)器的控制性能。
[Abstract]:As the final component of most automation equipment, the performance of the permanent magnet synchronous motor servo drive system directly determines the performance and quality of the whole equipment. With the rapid development of the equipment manufacturing industry, the high speed, high precision and high efficiency requirements for the servo drive system are put forward.
Permanent magnet synchronous motor drive system is a complex optical mechanical and electrical integration system, its performance increases and many factors are related. For example, because the feedback information provided by the output pulse of the incremental photoelectric encoder is limited, how to make full use of the pulse to obtain high precision speed and position information is an important research to improve the servo performance. The mechanical resonance caused by the elasticity of the transmission parts limits the bandwidth of the system, easily causes the system instability, and the mechanical resonance has become one of the key problems to be solved urgently for the high performance servo drive. The analog voltage or pulse form instruction interface has many limitations such as poor anti-interference, limited information capacity and so on. The development and application of field bus is limited by its technology monopoly and high price. In order to meet the high real-time and large information demand of the servo drive system, it is necessary to seek a high performance cost performance and strong real-time bus interface solution. Overheating is the main reason for the insulation damage of the motor, but the over thermal protection will limit the load of the motor. Ability, affecting the utilization of motor, in order to give full play to the carrying capacity of the motor and improve the efficiency of the driving system, the proper and reliable thermal protection method has important practical significance.
In this paper, in order to improve the performance of permanent magnet synchronous servo drive system, some theoretical research and engineering practice are carried out in the fields of speed and position measurement, mechanical resonance suppression, bus interface technology and motor real-time thermal model protection. The main contents are as follows:
In order to make full use of the feedback information provided by the incremental encoder pulse, the relay digital speed measurement method, the dynamic position subdivision technique and the linear estimation method of the instantaneous velocity are proposed. The relay detection method of the actual sampling point is always preceded by the weekly sampling point through the encoder pulse rising along the synchronous sampling clock, and the connection is studied. In order to improve the dynamic position resolution, a dynamic position subdivision algorithm is proposed to subdivide a single pulse in time to improve the dynamic position resolution. In order to obtain the timely and accurate speed information, a linear estimation of the instantaneous velocity of the two velocity measurement values is developed. Method.
The resonance suppression control structure based on FxLMS is constructed, and the particle damping fall algorithm for accelerating the convergence of LMS is proposed. In order to accelerate the convergence rate of the adaptive algorithm, a particle damping falling body algorithm is proposed by using the mass point damping of the gravity field to compare the filter weight coefficient of the mass point in the gravity field, and the range of its control parameters is analyzed. And practical analysis proves that the proposed structure has good following and robustness, and can effectively suppress mechanical resonance.
In view of the problem of communication bottlenecks in high performance servo drive system, a complete solution of a master and slave station controller for real-time Ethernet is studied. The methods and measures to enhance the real-time performance of the bus are focused on. The shortcut transmission mechanism is used to reduce the data flow processing delay from the station controller, thus shortening the communication cycle cycle. The design of the phase-locked loop based on the proportional integral regulator improves the synchronization precision of the master and slave clock and meets the requirement of high requirement for the synchronous performance of the CNC system.
Based on the heat transfer mechanism and physical structure of permanent magnet synchronous motor, a real-time thermal model is established, and the on-line temperature prediction of the motor is realized. A calculation method of core loss based on the speed and current of the motor is put forward. The changing trend of the cooling capacity of a variable thermal resistance analog motor with the rotation speed is introduced. The method of determining the parameters of the model is studied. The software flow of motor thermal protection is realized, and the accuracy of temperature prediction and the effectiveness of thermal protection are verified by experiments.
The hardware and software platform of the drive system is constructed, and the organic integration method of the key technologies is focused on. The control performance of the integrated servo driver is verified by the two axis arc interpolation experiment of the lathe.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM341

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李陽;蔣正友;石婷婷;;一種適用于變頻器的電機(jī)熱保護(hù)算法的研究[J];變頻器世界;2010年05期

2 吳春華;陳國(guó)呈;孫承波;;基于滑模觀測(cè)器的無傳感器永磁同步電機(jī)矢量控制系統(tǒng)[J];電工電能新技術(shù);2006年02期

3 李國(guó)民,曹東,夏長(zhǎng)亮,Tsang K M;提高電機(jī)位置伺服系統(tǒng)魯棒性能的最優(yōu)模糊模型跟蹤控制[J];電工技術(shù)學(xué)報(bào);2003年01期

4 楊興華;姜建國(guó);;永磁同步電機(jī)精確瞬時(shí)速度檢測(cè)[J];電工技術(shù)學(xué)報(bào);2011年04期

5 耿潔;陳振;劉向東;賴志林;;永磁同步電機(jī)的自適應(yīng)逆控制[J];電工技術(shù)學(xué)報(bào);2011年06期

6 宗鳴,高藝,孫一丹,赫明山;基于電機(jī)熱模型的電動(dòng)機(jī)保護(hù)方法的研究[J];電機(jī)電器技術(shù);2004年05期

7 許志紅,顏毅鵬,張培銘;基于神經(jīng)網(wǎng)絡(luò)的電動(dòng)機(jī)繞組溫升預(yù)測(cè)研究[J];電機(jī)與控制學(xué)報(bào);2005年06期

8 蘇健勇;楊貴杰;李鐵才;;PMSM擴(kuò)展?fàn)顟B(tài)滑模觀測(cè)器及轉(zhuǎn)子位置和速度估算[J];電機(jī)與控制學(xué)報(bào);2008年05期

9 秦曉飛;王云寬;鄭軍;于家斌;;交流伺服系統(tǒng)振動(dòng)魯棒M/T測(cè)速算法[J];電機(jī)與控制學(xué)報(bào);2010年05期

10 楊明;胡浩;徐殿國(guó);;永磁交流伺服系統(tǒng)機(jī)械諧振成因及其抑制[J];電機(jī)與控制學(xué)報(bào);2012年01期

相關(guān)博士學(xué)位論文 前1條

1 白玉成;交流伺服系統(tǒng)控制策略及現(xiàn)場(chǎng)總線接口技術(shù)[D];華中科技大學(xué);2009年

，

本文編號(hào)：1926317