本文選題：雙電機(jī)齒輪傳動(dòng)系統(tǒng)　切入點(diǎn)：偏置力矩　出處：《中國科學(xué)院研究生院（長春光學(xué)精密機(jī)械與物理研究所）》2012年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著科技的發(fā)展以及人類對探索宇宙不息的熱情,認(rèn)識宇宙的工具也在不斷進(jìn)步。作為重要工具的天文望遠(yuǎn)鏡也已經(jīng)從20世紀(jì)70年代的米級發(fā)展到現(xiàn)在的十幾米甚至幾十米。本論文的研究內(nèi)容屬于所內(nèi)參加的國際合作項(xiàng)目(TMT)的子系統(tǒng),所里主要負(fù)責(zé)參與TMT望遠(yuǎn)鏡三鏡系統(tǒng)的研制,該論文的方向就是三鏡方位軸系統(tǒng)的驅(qū)動(dòng)。國際上的大型望遠(yuǎn)鏡的軸系驅(qū)動(dòng)方式主要有蝸輪蝸桿傳動(dòng)方式、摩擦傳動(dòng)方式、齒輪傳動(dòng)方式、直接驅(qū)動(dòng)方式等,通過分析TMT對三鏡系統(tǒng)體積、重量等要求后,本文決定采用齒輪傳動(dòng)系統(tǒng)完成方位軸承的驅(qū)動(dòng)控制。 首先,分析了整個(gè)三鏡系統(tǒng)的工作過程,根據(jù)TMT項(xiàng)目對三鏡方位軸旋轉(zhuǎn)所提出的控制精度和控制時(shí)間的要求,分析出控制系統(tǒng)所要提供的控制參數(shù),根據(jù)各部分的參數(shù)完成方位軸控制系統(tǒng)各個(gè)部分的選型,完成整個(gè)控制系統(tǒng)的搭建。 其次,解決了在雙電機(jī)同步聯(lián)動(dòng)系統(tǒng)中一個(gè)非常重要的問題,即電機(jī)輸出轉(zhuǎn)速同步的問題。由于在實(shí)際電機(jī)選擇的過程中,即使選擇相同型號的電機(jī),實(shí)際的電機(jī)參數(shù)也不可能完全相同,這樣在同樣的控制指令下兩電機(jī)的輸出轉(zhuǎn)速不一致,這樣就會(huì)產(chǎn)生我們所說的差速振蕩現(xiàn)象,會(huì)嚴(yán)重影響系統(tǒng)的控制精度。工程上采用兩電機(jī)轉(zhuǎn)速的差作為一種反饋,采用PI控制將反饋加入到電機(jī)的輸入端,就可以很好的解決電機(jī)轉(zhuǎn)速不一致的問題,使兩電機(jī)保持同步聯(lián)動(dòng)。 再次,在同步聯(lián)動(dòng)的基礎(chǔ)上,采用預(yù)加偏置力矩的方式消除齒輪間隙對控制系統(tǒng)的影響。對整個(gè)三鏡控制系統(tǒng)進(jìn)行建模,在Simulink軟件中建立帶齒輪間隙的方位軸控制系統(tǒng)模型,通過對該模型的仿真實(shí)驗(yàn)可以清楚的看到,在加入偏置力矩環(huán)節(jié)時(shí),可以很好的消除齒輪間隙對控制精度的影響,在仿真過程中證明了預(yù)加偏置力矩的可行性。 最后,完成了伺服控制系統(tǒng)硬件電路板卡的設(shè)計(jì),通過對其進(jìn)行的功能驗(yàn)證,證明其完全可以勝任該雙電機(jī)齒輪傳動(dòng)系統(tǒng)的控制任務(wù),而且設(shè)計(jì)了豐富的通訊接口電路和一塊液晶顯示電路,這些功能可以很好的完成控制器與其他系統(tǒng)進(jìn)行數(shù)據(jù)通信,還可以實(shí)時(shí)的顯示相關(guān)的控制信息,該電路板卡能很好的完成后續(xù)硬件平臺的控制實(shí)驗(yàn)。
[Abstract]:With the development of science and technology and mankind's passion for exploring the universe, As an important tool, astronomical telescope has also developed from meter level in 1970s to ten meters or even tens of meters now. The research content of this paper belongs to the participating countries. The subsystem of the International Cooperation Project (TMT), He is mainly responsible for the development of the three-mirror system of TMT telescope. The direction of this paper is the drive of the three-mirror azimuth axis system. The main driving modes of the international large telescopes are worm gear and worm gear drive mode, friction drive mode. After analyzing the requirements of TMT for the volume and weight of the three-mirror system, this paper decides to adopt the gear transmission system to complete the driving control of bearing bearing in azimuth. First of all, the working process of the three-mirror system is analyzed. According to the requirements of the TMT project for the control precision and control time of the three-mirror azimuth axis rotation, the control parameters to be provided by the control system are analyzed. According to the parameters of each part, the selection of each part of azimuth axis control system is completed, and the whole control system is built. Secondly, it solves a very important problem in the synchronous linkage system of two motors, that is, the synchronous speed of the motor output. Because in the process of selecting the actual motor, even if the same type of motor is selected, The actual motor parameters can not be exactly the same, so under the same control instructions, the output speed of the two motors is not consistent, which will produce what we call differential oscillation. It will seriously affect the control accuracy of the system. In engineering, the difference between the speed of the two motors is used as a kind of feedback, and the feedback is added to the input end of the motor by using Pi control, and the problem of the inconsistency of the speed of the motor can be solved very well. Keep the two motors in sync. Thirdly, on the basis of synchronous linkage, the influence of gear clearance on the control system is eliminated by pre-adding offset torque. The whole three-mirror control system is modeled, and the azimuth axis control system model with gear clearance is established in Simulink software. Through the simulation experiment of the model, it can be clearly seen that the influence of gear clearance on control accuracy can be eliminated well when the offset torque is added, and the feasibility of pre-bias torque is proved in the simulation process. Finally, the design of the servo control system hardware board card is completed. Through the functional verification of the card, it is proved that the servo control system can be fully qualified for the control task of the double motor gear drive system. And designed a rich communication interface circuit and a liquid crystal display circuit, these functions can be very good to complete the controller and other systems for data communication, but also real-time display of related control information, The circuit board card can complete the subsequent hardware platform control experiment.
【學(xué)位授予單位】：中國科學(xué)院研究生院（長春光學(xué)精密機(jī)械與物理研究所）
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH743;TH132.41

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