【摘要】：工業(yè)加工的技術(shù)水平是國家生產(chǎn)力和工業(yè)實力的重要指標(biāo),由于數(shù)控機(jī)床具有快速精確的加工能力,近年來一直備受業(yè)界的矚目。永磁直線同步電動機(jī)兼有永磁同步電機(jī)體積小、運(yùn)行效率高、動態(tài)性能好和直線電機(jī)結(jié)構(gòu)簡單、精度高、速度快的雙重優(yōu)點(diǎn),已成為高速超高速、高檔數(shù)控裝備中的主流驅(qū)動方式。此外,由其驅(qū)動的用以實現(xiàn)平面定位和平面進(jìn)給的XY雙軸工作臺,在數(shù)控鏜、銑、鉆床以及各種加工中心中應(yīng)用廣泛。運(yùn)動控制的精度取決于伺服控制結(jié)構(gòu)和機(jī)械結(jié)構(gòu),由于數(shù)控裝備的機(jī)械結(jié)構(gòu)已趨于成熟,所以為提高加工精度,有必要設(shè)計性能良好的控制器。首先,本文介紹了永磁直線同步電機(jī)和直驅(qū)XY平臺的結(jié)構(gòu)、工作原理及發(fā)展應(yīng)用,分析了系統(tǒng)受到的擾動,并建立了永磁直線同步電機(jī)和直驅(qū)XY平臺的數(shù)學(xué)模型。定義跟蹤誤差和和輪廓誤差,推導(dǎo)直線指令、圓弧指令和任意輪廓指令下的輪廓誤差表達(dá)式。然后,針對傳統(tǒng)控制方法對存在不確定性、時變性和非線性因素的實際系統(tǒng)的局限性,本文為實現(xiàn)永磁直線同步電機(jī)伺服系統(tǒng)的精確跟蹤控制,設(shè)計了迭代學(xué)習(xí)位置控制器和PI速度控制器。針對傳統(tǒng)交叉耦合控制器與單軸反饋控制器相互獨(dú)立設(shè)計、缺乏系統(tǒng)化的問題,本文為實現(xiàn)直驅(qū)XY平臺的精確協(xié)調(diào)控制,同時建立單軸反饋控制系統(tǒng)和雙軸交叉耦合迭代學(xué)習(xí)控制結(jié)構(gòu),并利用瞬態(tài)響應(yīng)指直接給出各控制器參數(shù)的表達(dá)式。由于迭代學(xué)習(xí)控制利用誤差和上一次控制輸入計算當(dāng)前控制輸入,因此誤差的累加會直接影響系統(tǒng)的收斂速度和穩(wěn)定性,甚至導(dǎo)致系統(tǒng)發(fā)散。針對上述問題,本文利用經(jīng)驗?zāi)B(tài)分解算法分解迭代過程中的跟蹤誤差和輪廓誤差,剔除其中的發(fā)散分量,改善迭代學(xué)習(xí)控制系統(tǒng)和交叉耦合迭代學(xué)習(xí)控制系統(tǒng)的收斂性和跟蹤精度與輪廓精度。最后,在Matlab/Simulink下搭建永磁直線同步電機(jī)和直驅(qū)XY平臺的控制系統(tǒng)仿真模型,編寫程序?qū)崿F(xiàn)迭代學(xué)習(xí)控制過程,驗證設(shè)計的迭代學(xué)習(xí)控制器、交叉耦合迭代學(xué)習(xí)控制器的有效性。編寫程序?qū)崿F(xiàn)誤差信號的經(jīng)驗?zāi)B(tài)分解,剔除發(fā)散分量后重新運(yùn)行系統(tǒng),并對兩次仿真結(jié)果進(jìn)行比較分析,驗證提出新方法的有效性。
[Abstract]:The technical level of industrial processing is an important indicator of national productivity and industrial strength. Due to the rapid and accurate machining ability of NC machine tools, it has been attracting the attention of the industry in recent years. The permanent magnet linear synchronous motor has the advantages of small size, high running efficiency, good dynamic performance and the dual advantages of simple structure, high precision and high speed. High-grade CNC equipment in the mainstream drive mode. In addition, the XY double axis worktable driven by it is widely used in NC boring, milling, drilling machine and various machining centers. The precision of motion control depends on the servo control structure and mechanical structure. Since the mechanical structure of CNC equipment has become mature, it is necessary to design a controller with good performance for improving machining accuracy. Firstly, this paper introduces the structure, working principle and development and application of permanent magnet linear synchronous motor and direct-drive XY platform, analyzes the disturbance of the system, and establishes the mathematical model of permanent magnet linear synchronous motor and direct-drive XY platform. The tracking error and contour error are defined, and the contour error expressions under straight line instruction, arc instruction and arbitrary contour instruction are derived. Then, aiming at the limitation of the traditional control method to the actual system with uncertain, time-varying and nonlinear factors, this paper aims to realize the precise tracking control of the permanent magnet linear synchronous motor servo system. Iterative learning position controller and Pi speed controller are designed. To solve the problem that the traditional cross coupling controller and uniaxial feedback controller are independent of each other and lack of systematization, this paper aims to realize the precise coordination control of the direct drive XY platform. At the same time, the uniaxial feedback control system and the biaxial cross-coupling iterative learning control structure are established, and the expressions of the controller parameters are obtained directly by using the transient response index. Because the iterative learning control uses the error and the last control input to calculate the current control input, the accumulation of errors will directly affect the convergence speed and stability of the system, and even lead to the divergence of the system. In this paper, the tracking error and contour error in the iterative process are decomposed by the empirical mode decomposition algorithm, and the divergent components are eliminated. The convergence, tracking accuracy and contour accuracy of iterative learning control systems and cross-coupled iterative learning control systems are improved. Finally, the control system simulation model of permanent magnet linear synchronous motor and direct-drive XY platform is built under Matlab / Simulink. The iterative learning control process is realized by programming, and the effectiveness of the designed iterative learning controller and cross-coupled iterative learning controller is verified. A program is written to decompose the error signal, remove the divergent component and rerun the system. The results of two simulations are compared and analyzed to verify the effectiveness of the proposed method.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TG659

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