本文選題：永磁同步直線電機(jī) + 耦合控制��； 參考：《安徽大學(xué)》2015年碩士論文

【摘要】：作為高端制造業(yè)的第一塊基石,數(shù)控機(jī)床(computer numerical control, CNC)決定了整個(gè)工業(yè)體系的發(fā)展高度,也是衡量一個(gè)時(shí)代工業(yè)智能化程度的重要標(biāo)尺之一。作為數(shù)控機(jī)床最重要的組成部分之一,直線進(jìn)給系統(tǒng)一直是制約數(shù)控機(jī)床的加工精度、加工速度、工件質(zhì)量等技術(shù)參數(shù)提高的關(guān)鍵因素。目前,傳統(tǒng)數(shù)控機(jī)床進(jìn)給系統(tǒng)多采用旋轉(zhuǎn)電機(jī)加滾珠絲杠的結(jié)構(gòu),該結(jié)構(gòu)不僅降低了數(shù)控機(jī)床加工刀具運(yùn)動(dòng)的速度和加速度,而且由于傳動(dòng)結(jié)構(gòu)誤差和采用半閉環(huán)控制等因素,精度難以進(jìn)一步提高,使直線進(jìn)給系統(tǒng)成為高級(jí)精密數(shù)控機(jī)床發(fā)展的瓶頸。近年來(lái),永磁同步直線電機(jī)(PMSLM, Permanent Magnet Synchronous Linear Motor)高速發(fā)展,成為數(shù)控機(jī)床直線進(jìn)給系統(tǒng)驅(qū)動(dòng)部件的新選擇。PMSLM無(wú)需傳動(dòng)機(jī)構(gòu)即可直接輸出線性驅(qū)動(dòng),具有速度高、推力大、精度高等諸多優(yōu)點(diǎn)。但由于數(shù)控機(jī)床往往需要多個(gè)方向的直線驅(qū)動(dòng),傳統(tǒng)控制方案多采用DSP或工控機(jī)作為控制核心,缺乏多PMSLM并行控制能力,多PMSLM高精度耦合控制成為制約PMSLM在數(shù)控機(jī)床上應(yīng)用的關(guān)鍵性問(wèn)題。本課題研究了一種利用Nios II軟核處理器作為系統(tǒng)控制核心的多PMSLM控制系統(tǒng)。該系統(tǒng)采用基于卡爾曼濾波器的模糊二自由度PID控制算法控制PMSLM,具有較高的進(jìn)給速度,較高的定位精度,且具有良好的系統(tǒng)動(dòng)態(tài)跟蹤性能,抗干擾性能和耦合性能。本課題具體工作有如下幾個(gè)方面：一、基于卡爾曼濾波器PMSLM模糊二自由度PID控制算法研究本課題綜合分析和比較了常用PMSLM調(diào)速控制算法,選取了基于卡爾曼濾波器的模糊二自由度PID偏差耦合控制算法作為本系統(tǒng)的控制算法。PID控制算法作為工業(yè)界最廣泛使用的控制策略,具有良好的動(dòng)態(tài)響應(yīng),亦能較好的消除靜差。二自由度控制算法可以有效的解決傳統(tǒng)PID控制算法中“干擾抑制最佳參數(shù)”和“設(shè)定跟蹤最佳參數(shù)”之間的矛盾,使系統(tǒng)兼具良好的跟蹤特性和抗干擾特性。模糊二自由度控制算法可以忽略受控的永磁同步直線電機(jī)的精密數(shù)學(xué)模型,有助于提高系統(tǒng)的魯棒性。引入卡爾曼濾波器用以抑制測(cè)量噪聲和白噪聲,進(jìn)一步優(yōu)化系統(tǒng)的精度,減小系統(tǒng)靜差。通過(guò)基于卡爾曼濾波器模糊二自由度PID控制,使PMSLM控制系統(tǒng)在獲得良好的跟蹤特性的同時(shí)獲得良好的抗干擾特性、魯棒性并提供高精度的驅(qū)動(dòng)。二、基于偏差耦合控制策略多永磁同步直線電機(jī)耦合控制算法研究針對(duì)多PMSLM耦合控制的工況,本課題引入了偏差耦合控制結(jié)構(gòu),根據(jù)每個(gè)電機(jī)的工作狀態(tài)動(dòng)態(tài)地在電機(jī)之間分配速度補(bǔ)償信號(hào),首先檢測(cè)一臺(tái)電機(jī)的速率并與系統(tǒng)中其他的電機(jī)速率的變差乘以相應(yīng)的增益后相加得到偏差耦合控制的速度補(bǔ)償信號(hào),從而獲得良好的耦合控制效果。偏差耦合控制策略不僅從整體角度全面考慮了所有被控對(duì)象的運(yùn)行狀態(tài),同時(shí)也考慮了被控對(duì)象之間參數(shù)不同的情況,具有良好的耦合性能。三、多永磁同步直線電機(jī)耦合控制的FPGA實(shí)現(xiàn)作為控制系統(tǒng)核心,FPGA具有傳統(tǒng)控制平臺(tái)所不具備的強(qiáng)大的并行運(yùn)算能力,本課題研究了利用一塊FPGA搭建多塊Nios II軟核處理器,實(shí)現(xiàn)多PMSLM耦合控制算法�；贔PGA的控制系統(tǒng)具有豐沛的計(jì)算資源,可以實(shí)現(xiàn)多PMSLM高精度實(shí)時(shí)控制。同時(shí),各電機(jī)控制通道處于同一芯片內(nèi),因此具有極高的通信速度,為耦合控制算法通信提供了高速的信道,提高了偏差耦合控制算法的運(yùn)行速度,提高了多PMSLM耦合控制的實(shí)時(shí)性。四、搭建測(cè)試試驗(yàn)平臺(tái)并進(jìn)行不同控制方案的對(duì)比試驗(yàn)搭建了基于Nios II的多PMSLM耦合控制平臺(tái),對(duì)該平臺(tái)的控制效果進(jìn)行了試驗(yàn)測(cè)試,并與基于工控機(jī)的多PMSLM耦合控制平臺(tái)進(jìn)行對(duì)比試驗(yàn)。通過(guò)分析實(shí)驗(yàn)數(shù)據(jù),評(píng)價(jià)控制系統(tǒng)的快速響應(yīng)能力、抗干擾性能和耦合性能。仿真分析與試驗(yàn)測(cè)試的結(jié)論證明基于Nios Ⅱ的多PMSLM耦合控制平臺(tái)具有較好的快速響應(yīng)能力、抗干擾性能和耦合性能。有助于提高直線進(jìn)給驅(qū)動(dòng)系統(tǒng)的控制質(zhì)量,具有較高的科研意義和實(shí)用價(jià)值。
[Abstract]:As the first cornerstone of the high-end manufacturing industry, computer numerical control (CNC) determines the development of the whole industrial system, is also one of the important scales to measure the degree of industrial intelligence in an era. As one of the most important parts of the CNC machine tool, the linear feed system has always restricted the processing of CNC machine tools. At present, the traditional CNC machine tool feed system adopts the structure of rotating motor plus ball screw, which not only reduces the speed and acceleration of the machining tool movement, but also the precision of the transmission structure error and the semi closed loop control. It is difficult to further improve the linear feed system as a bottleneck for the development of advanced precision CNC machine tools. In recent years, PMSLM (Permanent Magnet Synchronous Linear Motor) has developed rapidly, and has become a new selective.PMSLM for linear feed system driving parts of CNC machine tool without transmission mechanism to direct output linear drive. It has many advantages, such as high speed, high thrust and high precision. However, because CNC machine tools often need multi direction linear drive, the traditional control schemes mostly use DSP or industrial control machine as control core, lack of multi PMSLM parallel control ability, and multi PMSLM high-precision coupling control is the key problem that restricts the application of PMSLM on CNC machine tools. A multi PMSLM control system using Nios II soft core processor as the core of system control is studied in this paper. The system uses a fuzzy two degree of freedom PID control algorithm based on Calman filter to control PMSLM. It has high feed speed, high positioning precision, good dynamic tracking performance, anti-jamming performance and good performance. The main work of this project is as follows: first, based on the study of the Calman filter PMSLM fuzzy two degree of freedom PID control algorithm, this topic is analyzed and compared with the common PMSLM speed control algorithm, and the fuzzy two degree of freedom PID deviation coupling control algorithm based on the Calman filter is selected as the control of this system. The algorithm.PID control algorithm, as the most widely used control strategy in the industry, has good dynamic response and can better eliminate static difference. The two degree of freedom control algorithm can effectively solve the contradiction between "the best parameter of interference suppression" and "the optimal parameter of setting tracking" in the traditional PID control algorithm, so that the system has a good heel The fuzzy two degree of freedom control algorithm can ignore the precise mathematical model of the controlled permanent magnet synchronous linear motor and help to improve the robustness of the system. The Calman filter is introduced to suppress the measurement noise and white noise, to further optimize the precision of the system and to reduce the system static difference. Through the Calman filter The fuzzy two degree of freedom PID control enables the PMSLM control system to obtain good tracking characteristics while obtaining good anti-interference characteristics, robustness and high precision drive. Two, the study of multi permanent magnet synchronous linear motor coupling control algorithm based on the deviation coupling control strategy is introduced to the working conditions of multi PMSLM coupling control. The deviation coupling control structure is used to dynamically allocate the speed compensation signal between the motor according to the working state of each motor. First, it detects the speed of the motor and multiplies the difference of the other motor speed in the system by the corresponding gain and gets the speed compensation signal controlled by the deviation coupling after the corresponding gain, thus obtaining a good coupling control effect. The deviation coupling control strategy not only takes the overall consideration of the operating state of all the controlled objects from the whole point of view, but also takes into account the different parameters between the controlled objects, and has good coupling performance. Three, the FPGA realization of the multi permanent magnet synchronous linear motor coupling control is the core of the control system, and the FPGA has the traditional control platform. With the powerful parallel computing power, we have studied the multi block Nios II soft core processor using a block of FPGA to realize the multi PMSLM coupling control algorithm. The control system based on FPGA has abundant computing resources and can realize the multi PMSLM high precision real-time control. At the same time, the control channel of each electric machine is in the same chip, so it has the pole. High communication speed provides high speed channel for coupling control algorithm communication, improves the running speed of the deviation coupling control algorithm and improves the real-time performance of multi PMSLM coupling control. Four, a test platform is built and a multi PMSLM coupling control platform based on Nios II is set up to build a test platform for different control schemes, and the platform is built on this platform. The control effect is tested and compared with the multi PMSLM coupling control platform based on the industrial control machine. Through the analysis of the experimental data, the fast response ability, anti-interference performance and coupling performance of the control system are evaluated. The conclusion of the simulation analysis and test test proves that the multi PMSLM coupling control platform based on Nios II is better. Fast response capability, anti-jamming performance and coupling performance are helpful to improve the control quality of linear feed drive system, which has high scientific research significance and practical value.
【學(xué)位授予單位】：安徽大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TG659;TM359.4

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 黃建,韓梅;基于CAN總線的虛擬儀器在多電機(jī)控制中的應(yīng)用[J];北京航空航天大學(xué)學(xué)報(bào);2005年02期

2 葉云岳,陸凱元;直線電機(jī)的PID控制與模糊控制[J];電工技術(shù)學(xué)報(bào);2001年03期

3 鄒積浩,朱善安;基于最大推力電流法的凸極式永磁直線同步電動(dòng)機(jī)無(wú)速度傳感器推力直接控制[J];電工技術(shù)學(xué)報(bào);2004年12期

4 李繼方;姚剛;湯天浩;;共直流母線多電機(jī)系統(tǒng)的混雜動(dòng)態(tài)模型及調(diào)度[J];電工技術(shù)學(xué)報(bào);2012年05期

5 張曉明;王勇軍;張民選;;網(wǎng)絡(luò)處理器中協(xié)處理器設(shè)計(jì)方法研究及實(shí)現(xiàn)[J];計(jì)算機(jī)工程與科學(xué);2007年03期

6 張承慧;石慶升;程金;;一種多電機(jī)同步傳動(dòng)模糊神經(jīng)網(wǎng)絡(luò)控制器的設(shè)計(jì)[J];控制與決策;2007年01期

7 張今朝;劉國(guó)海;潘天紅;;多電機(jī)變頻調(diào)速同步系統(tǒng)的多模型預(yù)測(cè)控制[J];控制與決策;2009年10期

8 陳幼平,杜志強(qiáng),艾武,周祖德;一種短行程直線電機(jī)的數(shù)學(xué)模型及其實(shí)驗(yàn)研究[J];中國(guó)電機(jī)工程學(xué)報(bào);2005年07期

9 李慶雷,王先逵;永磁交流同步直線電機(jī)位置伺服控制系統(tǒng)設(shè)計(jì)[J];中國(guó)機(jī)械工程;2001年05期

10 孫廣山;超精密機(jī)械加工技術(shù)及其發(fā)展動(dòng)向[J];中國(guó)機(jī)械工程;1996年01期

相關(guān)博士學(xué)位論文 前1條

1 藍(lán)益鵬;永磁直線電機(jī)伺服系統(tǒng)魯棒控制的研究[D];沈陽(yáng)工業(yè)大學(xué);2007年

相關(guān)碩士學(xué)位論文 前1條

1 王淑坤;滾珠絲杠進(jìn)給系統(tǒng)定位精度分析[D];大連理工大學(xué);2006年

，

本文編號(hào)：2012609