【摘要】：負(fù)載模擬系統(tǒng)是伺服驅(qū)動(dòng)系統(tǒng)研制與測試過程中的重要設(shè)備,能夠顯著改善實(shí)驗(yàn)條件,加快研發(fā)進(jìn)度,并且有助于降低研發(fā)成本。負(fù)載模擬系統(tǒng)可以準(zhǔn)確、重復(fù)的再現(xiàn)伺服系統(tǒng)中的負(fù)載力矩,為各種控制算法和控制對象的研究提供實(shí)驗(yàn)平臺。本文在深入研究負(fù)載模擬系統(tǒng)功能和結(jié)構(gòu)的基礎(chǔ)上提出了負(fù)載模擬系統(tǒng)的整體設(shè)計(jì)方案,然后以磁粉制動(dòng)器為加載元件,以FPGA為控制核心設(shè)計(jì)了一套負(fù)載模擬系統(tǒng)。在理論計(jì)算和仿真的基礎(chǔ)上完成了磁粉制動(dòng)器驅(qū)動(dòng)電源的設(shè)計(jì),利用FPGA進(jìn)行數(shù)據(jù)采集和加載電流控制,實(shí)現(xiàn)了伺服系統(tǒng)中不同類型負(fù)載力矩的模擬加載。本文的主要工作如下：(1)建立了基于逆動(dòng)力學(xué)模型的負(fù)載模擬系統(tǒng)傳遞函數(shù),分析了負(fù)載模擬系統(tǒng)的穩(wěn)定性。(2)建立了機(jī)械傳動(dòng)系統(tǒng)模型和磁粉制動(dòng)器模型,針對磁粉制動(dòng)器特性提出以模糊PID控制器進(jìn)行加載電流控制,設(shè)計(jì)并實(shí)現(xiàn)了模糊PID控制器。(3)設(shè)計(jì)了具有三級結(jié)構(gòu)的磁粉制動(dòng)器驅(qū)動(dòng)電源,在分析各級電路工作原理的基礎(chǔ)上計(jì)算了電路參數(shù)。提出了一種變占空比控制的DCM Boost PFC電路控制方法。在反激式電源的設(shè)計(jì)中采用了同步整流控制器。輸出級采用線性電源。(4)利用Simulink搭建了功率因數(shù)校正電路和反激式電源的仿真模型,利用Multisim搭建了線性電源的仿真模型。通過仿真對電路結(jié)構(gòu)、電路參數(shù)及控制算法進(jìn)行了驗(yàn)證和優(yōu)化。(5)以FPGA為核心完成了整個(gè)控制系統(tǒng)的設(shè)計(jì),包括FPGA最小系統(tǒng)、外圍輔助電路和控制軟件,最終完成了負(fù)載模擬系統(tǒng)的實(shí)物樣機(jī)。(6)根據(jù)伺服驅(qū)動(dòng)系統(tǒng)中常見的基本負(fù)載類型,如恒功率負(fù)載、風(fēng)機(jī)類負(fù)載,利用實(shí)驗(yàn)室伺服平臺和負(fù)載模擬系統(tǒng)樣機(jī)進(jìn)行了加載實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明本文設(shè)計(jì)的負(fù)載模擬系統(tǒng)能夠有效實(shí)現(xiàn)不同類型負(fù)載的模擬加載,具有良好的動(dòng)態(tài)性能,實(shí)現(xiàn)了負(fù)載模擬系統(tǒng)的功能。
[Abstract]:Load simulation system is an important equipment in the development and testing of servo drive system, which can significantly improve the experimental conditions, speed up the progress of research and development, and help to reduce the cost of research and development. The load simulation system can reproduce the load torque in the servo system accurately and repeatedly, and provide an experimental platform for the research of various control algorithms and control objects. In this paper, based on the deep study of the function and structure of the load simulation system, the overall design scheme of the load simulation system is put forward, and then a set of load simulation system is designed with the magnetic powder brake as the loading element and FPGA as the control core. On the basis of theoretical calculation and simulation, the driving power supply of magnetic powder brake is designed. FPGA is used for data acquisition and loading current control, and the simulation loading of different types of load torque in servo system is realized. The main work of this paper is as follows: (1) the transfer function of load simulation system based on inverse dynamics model is established, and the stability of load simulation system is analyzed. (2) the mechanical transmission system model and magnetic powder brake model are established, and the fuzzy PID controller is proposed to control the loading current according to the characteristics of magnetic powder brake. The fuzzy PID controller is designed and implemented. (3) the driving power supply of magnetic powder brake with three-stage structure is designed, and the circuit parameters are calculated on the basis of analyzing the working principle of all levels of circuits. A DCM Boost PFC circuit control method with variable duty cycle control is proposed. The synchronous rectifier controller is used in the design of flyback power supply. The output stage adopts linear power supply. (4) the simulation model of power factor correction circuit and flyback power supply is built by Simulink, and the simulation model of linear power supply is built by Multisim. The circuit structure, circuit parameters and control algorithm are verified and optimized by simulation. (5) the design of the whole control system is completed with FPGA as the core, including FPGA minimum system, peripheral auxiliary circuit and control software, and finally the physical prototype of the load simulation system is completed. (6) according to the common basic load types in the servo drive system, such as constant power load, fan load, The loading experiment is carried out by using the laboratory servo platform and the prototype of the load simulation system. The experimental results show that the load simulation system designed in this paper can effectively realize the simulation loading of different types of loads, has good dynamic performance, and realizes the function of the load simulation system.
【學(xué)位授予單位】：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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本文編號：2501448