本文關(guān)鍵詞：工業(yè)機(jī)械臂交流伺服控制系統(tǒng)關(guān)鍵技術(shù)研究　出處：《中國(guó)農(nóng)業(yè)機(jī)械化科學(xué)研究院》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 交流伺服 矢量控制 EtherCAT 負(fù)載轉(zhuǎn)矩觀測(cè)器 工業(yè)機(jī)械臂

【摘要】：交流伺服控制系統(tǒng)在現(xiàn)代工業(yè)自動(dòng)化運(yùn)動(dòng)控制領(lǐng)域具有無可代替的地位,工業(yè)應(yīng)用主要包括機(jī)器人、高精度數(shù)控機(jī)床和其他高精度運(yùn)動(dòng)控制機(jī)械。尤其在機(jī)器人領(lǐng)域,交流伺服系統(tǒng)得到了大量的應(yīng)用,工業(yè)機(jī)器人是擁有多自由度的工業(yè)機(jī)械臂的集合體,每個(gè)運(yùn)動(dòng)關(guān)節(jié)至少需要一套交流伺服系統(tǒng),由于機(jī)器人應(yīng)用場(chǎng)合對(duì)伺服系統(tǒng)通訊的實(shí)時(shí)性及同步性、系統(tǒng)可靠性及精度提出了更高的要求,以及我國(guó)機(jī)器人專用交流伺服系統(tǒng)起步晚,應(yīng)用經(jīng)驗(yàn)少等原因,工業(yè)機(jī)械臂交流伺服系統(tǒng)的大部分市場(chǎng)被國(guó)外品牌所占領(lǐng)。本文針對(duì)工業(yè)機(jī)械臂交流伺服系統(tǒng)的關(guān)鍵技術(shù)進(jìn)行深入研究,通過對(duì)工業(yè)機(jī)械臂專用伺服控制系統(tǒng)的應(yīng)用特點(diǎn)的分析,在交流伺服系統(tǒng)轉(zhuǎn)矩觀測(cè)器、在線參數(shù)變數(shù)、通信總線及伺服系統(tǒng)全數(shù)字化設(shè)計(jì)等方面做了大量的理論分析和試驗(yàn)研究,并研發(fā)了基于EtherCAT總線通信的高性能全數(shù)字化工業(yè)機(jī)械臂雙軸交流伺服控制系統(tǒng)。本文的主要研究?jī)?nèi)容包括:(1)提出了空間矢量脈寬調(diào)制矢量控制算法在現(xiàn)場(chǎng)可編程門陣列(Field-Programmable Gate Array,FPGA)中的實(shí)現(xiàn)方法。在對(duì)交流永磁同步電機(jī)(PMSM)的數(shù)學(xué)模型進(jìn)行分析的基礎(chǔ)上,對(duì)交流伺服電機(jī)坐標(biāo)變換原理及基本思路進(jìn)行了詳細(xì)的闡述,并對(duì)交流伺服系統(tǒng)中的應(yīng)用最為廣泛的電壓空間矢量脈寬調(diào)制技術(shù)(Space Vector Pulse Width Modulation,SVPWM)原理進(jìn)行了論述,完成了基于FPGA的SVPWM矢量控制算法的研究及實(shí)現(xiàn)。(2)設(shè)計(jì)了交流伺服控制系統(tǒng)的三閉環(huán)數(shù)學(xué)模型。根據(jù)現(xiàn)代控制理論分析了交流伺服控制系統(tǒng)各環(huán)節(jié)的傳遞函數(shù),為文中負(fù)載轉(zhuǎn)矩觀測(cè)器及基于辨識(shí)結(jié)果參數(shù)自整定的實(shí)現(xiàn)提供理論依據(jù),并依此建立了交流伺服控制系統(tǒng)電流環(huán)、速度環(huán)和位置環(huán)三閉環(huán)串級(jí)控制結(jié)構(gòu)中各環(huán)路的數(shù)學(xué)模型,討論分析了電流、速度和位置控制調(diào)節(jié)器的設(shè)計(jì)方法,并且通過仿真試驗(yàn)對(duì)控制器設(shè)計(jì)的正確性進(jìn)行了驗(yàn)證,為后文中為進(jìn)一步提高系統(tǒng)性能研究提供基礎(chǔ)。(3)提出了基于李雅普諾夫Lyapunov原理負(fù)載轉(zhuǎn)矩觀測(cè)器的設(shè)計(jì)方法以及基于負(fù)載轉(zhuǎn)矩辨識(shí)結(jié)果速度環(huán)參數(shù)在線優(yōu)化設(shè)計(jì)方法。由于工業(yè)機(jī)械臂在不同的應(yīng)用場(chǎng)合中負(fù)載轉(zhuǎn)矩不同,會(huì)影響交流伺服系統(tǒng)的控制性能,為了提高系統(tǒng)的可靠性,利用永磁同步電機(jī)定子轉(zhuǎn)軸電流和轉(zhuǎn)速方程構(gòu)建的電機(jī)機(jī)械運(yùn)動(dòng)動(dòng)力學(xué)方程,設(shè)計(jì)了基于Lyapunov負(fù)載轉(zhuǎn)矩觀測(cè)器,并根據(jù)觀測(cè)器估計(jì)結(jié)果對(duì)速度環(huán)控制器進(jìn)行再設(shè)計(jì),實(shí)現(xiàn)了速度環(huán)參數(shù)在線優(yōu)化。通過仿真和臺(tái)架試驗(yàn)證明,系統(tǒng)速度的跟蹤性能和轉(zhuǎn)矩響應(yīng)能力得到了有效提高,改善了伺服系統(tǒng)的動(dòng)態(tài)性能,增強(qiáng)了交流伺服控制系統(tǒng)的魯棒性。(4)提出了低成本EtherCAT從站小型化、模塊化、快速化設(shè)計(jì)方法。根據(jù)工業(yè)機(jī)械臂伺服控制系統(tǒng)對(duì)通訊實(shí)時(shí)性和可靠性的要求,采用基于FPGA IP核實(shí)現(xiàn)的EtherCAT總線通訊技術(shù),使數(shù)據(jù)鏈路層和應(yīng)用層在FPGA內(nèi)高度集成,從而實(shí)現(xiàn)了單片F(xiàn)PGA代替EtherCAT從站控制芯片(ESC)和從站微處理器芯片(從站協(xié)議棧)的功能,完成了 EtherCAT模塊化、易移植性、小型化的設(shè)計(jì)。并對(duì)通訊過程中的傳輸延時(shí)進(jìn)行了理論分析計(jì)算,結(jié)合板級(jí)對(duì)基于FPGA設(shè)計(jì)的EtherCAT總線接口進(jìn)行了同步性和實(shí)時(shí)性驗(yàn)證試驗(yàn),結(jié)果表明此設(shè)計(jì)方案有效,滿足工業(yè)機(jī)械臂交流伺服系統(tǒng)對(duì)總線通訊功能的要求。(5)研制了基于EtherCAT總線通信的高性能全數(shù)字化工業(yè)機(jī)械臂雙軸交流伺服控制系統(tǒng)。完成了工業(yè)機(jī)械臂交流伺服控制系統(tǒng)的數(shù)字化設(shè)計(jì);搭建了主電路、檢測(cè)保護(hù)電路等數(shù)字化交流伺服系統(tǒng)硬件平臺(tái),開發(fā)了交流伺服系統(tǒng)軟件,研制了基于DSP+FPGA架構(gòu)為控制器的交流伺服電機(jī)矢量控制系統(tǒng)。(6)試驗(yàn)和仿真。對(duì)研制的工業(yè)機(jī)械臂交流伺服系統(tǒng)進(jìn)行了仿真及試驗(yàn)測(cè)試,結(jié)果表明:該系統(tǒng)支持三相380V±15%,電流環(huán)、速度環(huán)、位置環(huán)控制周期為62.5us;工業(yè)機(jī)械臂末端速度為0.2m/s時(shí),其位置穩(wěn)定時(shí)間為0.026ms,位置超調(diào)量為0.111mm;1m/s時(shí),其位置穩(wěn)定時(shí)間為0.09ms,位置超調(diào)量為0.123mm,符合工業(yè)機(jī)械臂對(duì)伺服控制系統(tǒng)的要求,具有較好的魯棒性與實(shí)用性。
[Abstract]:AC servo control system control field has no place in the modern industrial automation, industrial applications including robot, high-precision CNC machine tools and other high precision motion control machine. Especially in the field of robotics, AC servo system has been widely used, is a collection of industrial robot has more degrees of freedom robot arm. Each joint movement requires at least a set of AC servo system, the robot applications of real-time and synchronization of communication of servo system, system reliability and accuracy of the proposed higher requirements, as well as for AC servo system of robot in China started late, less experience, most of the market of industrial manipulator of AC servo system occupied by foreign brands. This paper deeply researches the key technology for industrial manipulator of AC servo system, based on the industry Analysis of application characteristics of special manipulator servo control system in AC servo system, torque observer, parameter variables, the theoretical analysis and experimental study of a large number of communication bus and digital servo system design, and developed a EtherCAT bus communication of high performance digital industrial manipulator double servo control system based on the main contents of this paper include: (1) proposed SVPWM vector control algorithm in field programmable gate array (Field-Programmable Gate Array, FPGA). The implementation method of AC permanent magnet synchronous motor (PMSM) analysis based on the mathematical model, and the basic thought of AC servo motor coordinate transform principle in detail, and the application of AC servo system in the voltage space vector PWM (Space Vector Puls wide E Width Modulation, SVPWM) principle is discussed, the research and Realization of SVPWM vector control algorithms based on FPGA. (2) designed three closed-loop mathematical model of AC servo control system. Based on the modern control theory of AC servo control of each part of the system transfer function, as the load torque observer and self realization the setting provides a theoretical basis for the parameter identification results based on, and established the AC servo control system mathematical model of current loop, speed loop and position loop on the loop level three closed-loop control structure, discusses the current, speed and position control of the regulator design method, and verify the correctness of the controller design through simulation test for the research to further improve the performance of the system provides the basis. (3) proposed Li Yapu Ivanov Lyapunov load torque observer is designed based on the principle of Design method and optimization method based on the load torque identification of speed loop parameters online. Due to the industrial manipulator in different applications in different load torque, will affect the control performance of AC servo system, in order to improve the reliability of the system, the dynamic motor mechanical motion equation using permanent magnet synchronous electric machine stator shaft construction current and speed equation the design of Lyapunov, a load torque observer based on observer and according to the estimation results of speed loop controller design, realization of the on-line optimization loop parameters speed. Through the simulation and experiment results show that the tracking performance of torque and speed of the system response ability is effectively improved, and improve the dynamic performance of servo system, robustness AC servo control system. (4) proposed a low cost EtherCAT from the station miniaturization, modularization, fast design method according to the work. The requirements of real-time and reliability of communications industry manipulator servo control system using EtherCAT bus communication technology FPGA IP core implementation based on the data link layer and application layer in FPGA highly integrated, so as to realize the monolithic FPGA instead of EtherCAT from the station control chip (ESC) and slave microprocessor chip (slave protocol stack) function, complete the EtherCAT modular, easy portability and miniaturization design. And the transmission delay in the process of communication is analyzed and calculated in theory, combined with the board level of synchronization and real-time test of EtherCAT bus interface based on FPGA, the results show that this design scheme is effective, meet the requirements the bus communication function of industrial manipulator servo system. (5) developed EtherCAT bus communication of high performance digital industrial manipulator double servo control system based on the finished industrial machine. Digital design of mechanical arm of AC servo control system; build the main circuit, the hardware platform of detection and protection circuit of the digital AC servo system, AC servo system is developed based on DSP+FPGA software development framework for AC servo motor vector control system. The controller (6) test and simulation. For the developed industrial manipulator servo system the simulation and test results show that the system supports three 380V + 15%, current loop, speed loop, position loop control cycle is 62.5us; industrial manipulator speed is 0.2m/s, the position of stable time is 0.026ms, the position overshoot is 0.111mm; 1m/s, the position of stable time is 0.09ms. The position of the overshoot is 0.123mm, to meet the requirements of the servo control system of industrial manipulator, robust and practical.

【學(xué)位授予單位】：中國(guó)農(nóng)業(yè)機(jī)械化科學(xué)研究院
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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