本文選題：音圈電機(jī)　切入點(diǎn)：前饋控制　出處：《青島大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著微電機(jī),傳感器及其現(xiàn)代控制技術(shù)的發(fā)展,電機(jī)驅(qū)動(dòng)系統(tǒng)逐漸趨于集成化與精密化,而各種高性能控制系統(tǒng)的推陳出新,也使得音圈電機(jī)驅(qū)動(dòng)系統(tǒng)的發(fā)展到達(dá)了新高度。近幾年來,先進(jìn)PID控制算法在MCU實(shí)現(xiàn)上逐漸趨于成熟,且精度與穩(wěn)定性上表現(xiàn)良好,因此,在產(chǎn)業(yè)化的同時(shí)穩(wěn)固了其優(yōu)勢(shì)地位。較傳統(tǒng)兩相直流驅(qū)動(dòng)控制系統(tǒng)相比,音圈電機(jī)驅(qū)動(dòng)控制系統(tǒng)在結(jié)構(gòu)上與之相似,因其電機(jī)推力波動(dòng)小,響應(yīng)快,推力系數(shù)恒定,在抗干擾及快速響應(yīng)方面,采用微分先行方式對(duì)擾動(dòng)加以抑制,并引入前饋控制提高系統(tǒng)抗擾特性,而后以模糊整定PID參數(shù)方式保證其控制質(zhì)量。仿真表明,該控制方式能有效提高控制精度及控制穩(wěn)定性。本文主要研究卡扣機(jī)構(gòu)的工件安裝。并可分為三個(gè)工作過程:電機(jī)復(fù)位、平穩(wěn)運(yùn)行、將卡扣工件A與B進(jìn)行固定。其中,電機(jī)復(fù)位是為位置標(biāo)定與往復(fù)運(yùn)動(dòng)而設(shè)計(jì)的;而平穩(wěn)運(yùn)行則根據(jù)速度差異分為快速移動(dòng)到達(dá)設(shè)定區(qū)域和緩慢移動(dòng)到達(dá)工件表面兩個(gè)運(yùn)動(dòng)過程,兩運(yùn)動(dòng)過程主要以位置控制為主。在高速進(jìn)給與低速放置之間采用位置判斷切換控制方式,保證系統(tǒng)高效運(yùn)行。在接觸工件表面后,為使其工件無擠壓、損壞現(xiàn)象發(fā)生,在漸進(jìn)增大推力的同時(shí),通過位置實(shí)時(shí)監(jiān)控達(dá)到力位混合控制效果,保證在低速位移持續(xù)加力與瞬間高速電機(jī)急停操作。實(shí)驗(yàn)表明,該控制方式有效的實(shí)現(xiàn)了工件快速進(jìn)給、軟著陸及緊固的相關(guān)工藝流程。
[Abstract]:With the development of micromotor, sensor and its modern control technology, the motor drive system is becoming more and more integrated and precise. In recent years, the advanced PID control algorithm is becoming mature in MCU implementation, and the accuracy and stability are good. Compared with the traditional two-phase direct current drive control system, the voice coil motor drive control system is similar in structure because of its low thrust fluctuation, fast response and constant thrust coefficient. In the aspect of anti-jamming and fast response, the disturbance is suppressed by differential first method, and the disturbance rejection characteristic is improved by introducing feedforward control, and the control quality is guaranteed by fuzzy tuning PID parameters. This control method can effectively improve the control accuracy and control stability. This paper mainly studies the workpiece installation of the buckle mechanism. It can be divided into three working processes: motor reset, smooth operation, fastening A and B of buckle workpiece. The motor reset is designed for the position calibration and reciprocating motion, and the smooth operation is divided into two moving processes according to the velocity difference: fast moving to the set area and slow moving to the surface of the workpiece. The two motion processes are mainly controlled by position. Position judgment switching control is adopted between high speed feed and low speed placement to ensure the high efficiency of the system. After contact with the surface of the workpiece, in order to make the workpiece have no extrusion, the phenomenon of damage occurs. At the same time of increasing the thrust gradually, the effect of hybrid control of force and position is achieved by real-time monitoring of position, which ensures the continuous adding force at low speed displacement and the sudden stop operation of high speed motor. The experiment shows that the control method can effectively realize the rapid feed of the workpiece. Soft landing and fastening process.
【學(xué)位授予單位】：青島大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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