本文選題：工業(yè)機(jī)器人 + 交流伺服驅(qū)動器　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：工業(yè)機(jī)器人以其高集成度被廣泛應(yīng)用于生產(chǎn)制造的各個(gè)領(lǐng)域。電機(jī)伺服系統(tǒng)是工業(yè)機(jī)器人最核心的部件之一,單臺工業(yè)機(jī)器人上既必須集成多個(gè)電機(jī)伺服系統(tǒng),以實(shí)現(xiàn)各關(guān)節(jié)運(yùn)動需求,因此其伴隨著工業(yè)機(jī)器人的發(fā)展有著不可忽視的市場價(jià)值。在實(shí)際使用過程中,工業(yè)機(jī)器人要求伺服驅(qū)動電機(jī)具有良好的動態(tài)性能、較強(qiáng)的抗干擾能力以及寬調(diào)速范圍能力。然而,電機(jī)伺服系統(tǒng)在運(yùn)行的過程中往往存在由于電機(jī)齒間氣隙變化、外部摩擦干擾等所引發(fā)的的擾動轉(zhuǎn)矩,在電機(jī)運(yùn)行于低速時(shí)對電機(jī)的平穩(wěn)運(yùn)行造成極大破壞,使電機(jī)速度波動極大。此外,交流永磁同步電機(jī)繞組電樞反電動勢隨著轉(zhuǎn)速的提高而提高,當(dāng)電機(jī)反電動勢隨轉(zhuǎn)速的升高上升至直流逆變器所能提供的最大電壓時(shí),電機(jī)電樞電壓達(dá)到飽和,電機(jī)轉(zhuǎn)速則無法繼續(xù)提升,此時(shí)如不采用特殊的控制方法將無法滿足機(jī)器人對電機(jī)的寬調(diào)速范圍要求。本文首先對交流永磁同步電機(jī)矢量控制進(jìn)行分析,對電機(jī)控制系統(tǒng)進(jìn)行建模,推導(dǎo)了矢量控制下電壓方程及轉(zhuǎn)矩方程,重點(diǎn)推導(dǎo)了SVPWM調(diào)制算法,針對其相鄰兩基本電壓矢量導(dǎo)通時(shí)間之和超出PWM控制周期的情況通過插入空向量的形式使系統(tǒng)重新按照七段式調(diào)制進(jìn)行,避免了多個(gè)開關(guān)動作的情況,減小了逆變器出現(xiàn)過流的情況。其次,通過對電機(jī)于低速區(qū)出現(xiàn)的擾動轉(zhuǎn)矩進(jìn)行分析,設(shè)計(jì)最小維擾動觀測器算法對電機(jī)的擾動轉(zhuǎn)矩進(jìn)行觀測,并利用觀測轉(zhuǎn)矩對控制系統(tǒng)進(jìn)行前饋補(bǔ)償,以此提高電機(jī)于低速運(yùn)行時(shí)的穩(wěn)態(tài)性能及抗干擾能力。設(shè)置了補(bǔ)償系數(shù)控制擾動觀測器補(bǔ)償量,減小了擾動觀測器調(diào)節(jié)過程中出現(xiàn)的超調(diào)。隨后,對交流永磁同步電機(jī)弱磁控制原理進(jìn)行分析,從電機(jī)穩(wěn)態(tài)的角度分析了弱磁控制過程中穩(wěn)態(tài)電流運(yùn)動軌跡,以此設(shè)計(jì)了超前角弱磁控制算法,并對其電流運(yùn)動軌跡及控制性能進(jìn)行分析。隨后從電壓的角度對電機(jī)弱磁控制瞬時(shí)調(diào)整過程進(jìn)行分析,針對所使用的表面式交流永磁同步電機(jī)提出了一種改進(jìn)的單軸弱磁控制算法,解決了超前角弱磁控制存在的控制滯后、電流波動劇烈等問題。最后,本文設(shè)計(jì)了電機(jī)驅(qū)動硬件電路,使驅(qū)動電路更適應(yīng)于高速控制的場合。設(shè)計(jì)驅(qū)動器控制整體軟件結(jié)構(gòu),并針對電機(jī)控制過程中出現(xiàn)的故障設(shè)計(jì)了報(bào)警中斷程序,避免控制不當(dāng)引發(fā)的器件破壞。最終,設(shè)計(jì)了SCARA機(jī)器人伺服驅(qū)動平臺,通過SCARA機(jī)器人實(shí)際使用測試驗(yàn)證了本文所設(shè)計(jì)的算法及硬件電路的實(shí)際使用性能。
[Abstract]:Industrial robots are widely used in various fields of manufacturing due to their high integration. Motor servo system is one of the most important components of industrial robot. It is necessary to integrate multiple motor servo systems in a single industrial robot in order to achieve the motion requirements of each joint. Therefore, with the development of industrial robots, it has a market value that can not be ignored. In the process of practical use, the industrial robot requires the servo drive motor to have good dynamic performance, strong anti-interference ability and wide speed range ability. However, the disturbance torque caused by the change of air gap between the teeth of the motor and the external friction disturbance often exists in the running process of the motor servo system, which causes great damage to the smooth operation of the motor when the motor is running at low speed. The speed of the motor fluctuates greatly. In addition, the armature backEMF of AC permanent magnet synchronous motor windings increases with the increase of rotating speed. When the motor backEMF increases to the maximum voltage provided by DC inverter, the armature voltage reaches saturation. The speed of the motor can not continue to be raised, and if the special control method is not adopted, the robot will not be able to meet the requirements of the wide speed range of the motor. In this paper, the vector control of AC permanent magnet synchronous motor (PMSM) is analyzed, the motor control system is modeled, the voltage equation and torque equation under vector control are derived, and the SVPWM modulation algorithm is derived. When the sum of the conduction time of the adjacent two basic voltage vectors exceeds the PWM control period, the system is re-modulated according to the seven-segment modulation by inserting the empty vector, thus avoiding the situation of multiple switching actions. The overcurrent of the inverter is reduced. Secondly, by analyzing the disturbance torque of the motor in the low speed region, the minimum order disturbance observer algorithm is designed to observe the disturbance torque of the motor, and the control system is fed forward by the observed torque. In this way, the steady-state performance and anti-interference ability of the motor at low speed are improved. The compensation coefficient control disturbance observer compensation is set to reduce the overshoot during the disturbance observer regulation. Then, the principle of weak magnetic field control of permanent magnet synchronous motor (PMSM) is analyzed, and the track of steady current in the process of MMSM is analyzed from the point of view of steady state of motor, and the control algorithm of weak magnetic field at leading angle is designed. The current trajectory and control performance are analyzed. Then the transient adjustment process of the weak magnetic field control of the motor is analyzed from the voltage angle, and an improved single-axis weak magnetic field control algorithm is proposed for the surface AC permanent magnet synchronous motor. The control lag and current fluctuation in the control of leading angle weak magnetic field are solved. Finally, the hardware circuit of motor drive is designed, which makes the drive circuit more suitable for high speed control. The whole software structure of driver control is designed, and the alarm interrupt program is designed to avoid device damage caused by improper control. Finally, the servo drive platform of SCARA robot is designed, and the performance of the algorithm and hardware circuit is verified by the actual test of SCARA robot.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TM341

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本文編號：2085308