本文選題：雙通道 + 直驅(qū)電機(jī)��； 參考：《南京理工大學(xué)》2017年碩士論文

【摘要】：伺服系統(tǒng)作為一種能夠跟隨外界給定輸入信號實(shí)時(shí)變化的控制系統(tǒng),被廣泛應(yīng)用于各個(gè)領(lǐng)域。隨著對伺服系統(tǒng)控制精度,響應(yīng)速度以及魯棒性要求的不斷提高,傳統(tǒng)的單級伺服系統(tǒng)難以滿足要求。針對高精度激光定位平臺,本文設(shè)計(jì)了區(qū)別于傳統(tǒng)定位平臺的雙級伺服系統(tǒng)進(jìn)行控制。首先,根據(jù)激光系統(tǒng)的工作原理以及提出的技術(shù)指標(biāo),設(shè)計(jì)了雙級伺服系統(tǒng)的總體結(jié)構(gòu),主要包括粗、精通道驅(qū)動結(jié)構(gòu)的設(shè)計(jì)。其次,在Simulink仿真環(huán)境下搭建了基于直驅(qū)電機(jī)的粗通道平臺三環(huán)仿真模型,并對三環(huán)模型中位置環(huán)的控制策略進(jìn)行詳細(xì)設(shè)計(jì)。針對PID控制器在抗擾方面的不足,位置環(huán)引入ADRC,通過模擬擾動重點(diǎn)比較了 ADRC和PID控制的抗擾性能。同時(shí)對基于壓電陶瓷驅(qū)動的快反鏡結(jié)構(gòu)進(jìn)行建模分析,在Simulink仿真環(huán)境下搭建了精通道模型,采用復(fù)合控制,并與傳統(tǒng)PID控制進(jìn)行性能對比。然后,針對控制器參數(shù)整定不易,設(shè)計(jì)了兩種參數(shù)整定策略,復(fù)合參數(shù)整定法和融合粒子群參數(shù)整定法,并將其分別運(yùn)用于精通道控制器參數(shù)整定,經(jīng)驗(yàn)證均取得了不錯(cuò)的效果,省去了以往人工試湊法的時(shí)間。最后,設(shè)計(jì)了雙級驅(qū)動伺服系統(tǒng)的協(xié)調(diào)控制模塊,采用S-函數(shù)實(shí)現(xiàn)雙閾值切換策略,同時(shí)針對精通道在補(bǔ)償粗通道誤差時(shí)產(chǎn)生的滯后和不平穩(wěn)現(xiàn)象,將曲線擬合最小二乘法、加權(quán)濾波算法和輸出線性化模塊引入到協(xié)調(diào)控制模塊中,并在Simulink仿真環(huán)境下中搭建了雙級伺服系統(tǒng)的仿真模型,輸入典型信號進(jìn)行測試,調(diào)試結(jié)果表明滿足了系統(tǒng)所需的快速性和高精度要求。
[Abstract]:Servo system is widely used in many fields as a real-time control system which can follow the given input signal. With the improvement of control precision, response speed and robustness of servo system, the traditional single-stage servo system is difficult to meet the requirements. Aiming at the high precision laser positioning platform, this paper designs a two-stage servo system which is different from the traditional positioning platform. Firstly, according to the working principle of the laser system and the technical specifications proposed, the overall structure of the two-stage servo system is designed, which mainly includes the design of the coarse and fine channel drive structure. Secondly, the three-ring simulation model of coarse channel platform based on direct-drive motor is built in Simulink simulation environment, and the control strategy of position loop in three-ring model is designed in detail. For the deficiency of PID controller in disturbance rejection, the position loop is introduced into ADRC, and the immunity performance of ADRC and PID control is compared by simulating the disturbance. At the same time, the fast mirror structure driven by piezoelectric ceramics is modeled and analyzed. The proficient channel model is built in the Simulink simulation environment, and the composite control is adopted, and the performance is compared with the traditional PID control. Then, two parameter tuning strategies, compound parameter tuning method and fusion particle swarm optimization method, are designed to control the controller parameters. It has been proved that good results have been achieved, and the time of previous artificial trial and error has been saved. Finally, the coordinated control module of the two-stage drive servo system is designed. The S- function is used to realize the double threshold switching strategy. At the same time, the curve fitting least square method is used to solve the hysteresis and unsteady phenomenon caused by the proficient track in compensating the coarse channel error. The weighted filtering algorithm and the output linearization module are introduced into the coordinated control module, and the simulation model of the two-stage servo system is built in the Simulink simulation environment, and the typical signals are input for testing. The debugging results show that the system can meet the requirement of high speed and high precision.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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本文編號：1862570