【摘要】：交流永磁同步直線電機(jī)無間隙、高加速度、高速度以及高帶寬的傳動(dòng)特性在數(shù)控機(jī)床等高端裝備制造領(lǐng)域具有極大的應(yīng)用前景。動(dòng)態(tài)精度和運(yùn)行平穩(wěn)性是評(píng)價(jià)運(yùn)動(dòng)執(zhí)行機(jī)構(gòu)的重要指標(biāo)，然而直驅(qū)進(jìn)給系統(tǒng)阻尼小、存在推力波動(dòng)等問題，使高速直驅(qū)進(jìn)給系統(tǒng)在抵抗外部擾動(dòng)方面具有固有缺陷，動(dòng)態(tài)精度低，穩(wěn)定性差，降低了加工效率、精度和工件質(zhì)量，引起工件變形，限制了直線電機(jī)的推廣應(yīng)用。本文旨在開展高速高精度伺服控制技術(shù)研究，提高直線電機(jī)動(dòng)態(tài)性能，為直線電機(jī)的推廣應(yīng)用做出有意義的探索。 首先，論文分析直線電機(jī)的國(guó)內(nèi)外研究和應(yīng)用現(xiàn)狀，總結(jié)了影響交流永磁同步直線電機(jī)伺服系統(tǒng)性能的關(guān)鍵因素；對(duì)交流永磁同步直線電機(jī)的數(shù)學(xué)模型進(jìn)行了推導(dǎo)，并設(shè)計(jì)了交流伺服系統(tǒng)的PID控制器；分析了伺服控制器負(fù)反饋控制方法的優(yōu)缺點(diǎn)，開展了前饋補(bǔ)償算法、運(yùn)動(dòng)軌跡規(guī)劃方法的研究。 其次，根據(jù)所設(shè)計(jì)的交流伺服系統(tǒng)控制結(jié)構(gòu)，對(duì)交流永磁同步直線電機(jī)伺服驅(qū)動(dòng)器進(jìn)行了硬件和軟件實(shí)現(xiàn)。 最后，開展了基于數(shù)據(jù)的交流伺服系統(tǒng)數(shù)學(xué)建模方法的研究，采用偽隨機(jī)信號(hào)作為系統(tǒng)激勵(lì)信號(hào)對(duì)直線電機(jī)伺服系統(tǒng)動(dòng)態(tài)特性進(jìn)行辨識(shí)；利用所設(shè)計(jì)的交流伺服驅(qū)動(dòng)器和NI PXI-6251數(shù)據(jù)采集板卡搭建了整個(gè)伺服系統(tǒng)頻率響應(yīng)測(cè)試平臺(tái)，對(duì)所設(shè)計(jì)交流伺服驅(qū)動(dòng)器性能進(jìn)行了測(cè)試，完成了交流永磁同步高速直線電機(jī)伺服系統(tǒng)特性測(cè)試實(shí)驗(yàn)，建立了交流永磁同步電機(jī)伺服系統(tǒng)的速度開環(huán)的相對(duì)精確的數(shù)學(xué)模型。 論文開發(fā)了交流永磁同步直線電機(jī)伺服驅(qū)動(dòng)器，搭建了系統(tǒng)頻率響應(yīng)測(cè)試平臺(tái)，基于數(shù)據(jù)對(duì)系統(tǒng)特性進(jìn)行辨識(shí)，，建立了交流永磁同步直線電機(jī)機(jī)電系統(tǒng)的數(shù)學(xué)模型，解決了伺服系統(tǒng)控制中控制對(duì)象模型不能較全面反映系統(tǒng)特性的問題。通過本文的研究，為實(shí)現(xiàn)交流永磁同步直線電機(jī)的高速高精度運(yùn)動(dòng)控制提供了技術(shù)基礎(chǔ)，具有廣泛的應(yīng)用前景。
[Abstract]:Ac permanent magnet synchronous linear motor (PMSM) with no clearance, high acceleration, high speed and high bandwidth has great application prospect in the field of NC machine tools and other high-end equipment manufacturing. Dynamic precision and running smoothness are important indexes for evaluating motion actuators. However, there are some problems such as low damping and fluctuating thrust in direct drive feed system, which make high-speed direct drive feed system have inherent defects in resisting external disturbance. The dynamic precision is low, the stability is poor, the machining efficiency, precision and workpiece quality are reduced, the workpiece deformation is caused, and the popularization and application of linear motor is limited. The purpose of this paper is to develop the research of high speed and high precision servo control technology, to improve the dynamic performance of linear motor, and to make a meaningful exploration for the popularization and application of linear motor. Firstly, this paper analyzes the domestic and international research and application status of linear motor, summarizes the key factors that affect the performance of AC permanent magnet synchronous linear motor servo system. The mathematical model of AC permanent magnet synchronous linear motor is deduced and the PID controller of AC servo system is designed. The advantages and disadvantages of the negative feedback control method of servo controller are analyzed, and the feedforward compensation algorithm and motion trajectory planning method are studied. Secondly, according to the control structure of AC servo system, the hardware and software of AC permanent magnet synchronous linear motor servo driver are implemented. Finally, the mathematical modeling method of AC servo system based on data is studied. The pseudo-random signal is used as the excitation signal to identify the dynamic characteristics of linear motor servo system. Using the designed AC servo driver and NI PXI-6251 data acquisition board, the frequency response test platform of the whole servo system is built, and the performance of the designed AC servo driver is tested. The test experiment of AC permanent magnet synchronous high speed linear motor servo system is completed, and a relatively accurate mathematical model of speed open loop of AC permanent magnet synchronous motor servo system is established. In this paper, the AC permanent magnet synchronous linear motor servo driver is developed, and the system frequency response test platform is set up. Based on the data, the characteristics of the system are identified, and the mathematical model of the AC permanent magnet synchronous linear motor electromechanical system is established. The problem that the control object model can not reflect the characteristics of the servo system is solved. Through the research in this paper, it provides the technical foundation for realizing the high speed and high precision motion control of the AC permanent magnet synchronous linear motor, and has a wide application prospect.
【學(xué)位授予單位】：太原科技大學(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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