本文關(guān)鍵詞： 永磁同步電機(jī) 雙電機(jī)驅(qū)動(dòng) 消隙 滑模控制 轉(zhuǎn)速同步控制　出處：《天津工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：雙電機(jī)驅(qū)動(dòng)齒輪傳動(dòng)系統(tǒng)具有輸出功率大、結(jié)構(gòu)緊湊、效率高、成本低等優(yōu)點(diǎn),因此在重載場(chǎng)合得到了廣泛應(yīng)用。對(duì)于高精度、高速隨動(dòng)系統(tǒng),伺服電機(jī)驅(qū)動(dòng)負(fù)載頻繁換向,難以克服由嚙合間隙造成的傳動(dòng)誤差和回程誤差,嚴(yán)重影響伺服系統(tǒng)的傳動(dòng)精度和系統(tǒng)性能。此外,當(dāng)系統(tǒng)中兩臺(tái)電機(jī)共同驅(qū)動(dòng)負(fù)載時(shí),由于實(shí)際電機(jī)參數(shù)不一致、傳動(dòng)鏈抗扭特性差異、各電機(jī)受到擾動(dòng)不同等因素,都會(huì)導(dǎo)致驅(qū)動(dòng)電機(jī)間出現(xiàn)速度同步誤差,極易引發(fā)差速振蕩現(xiàn)象,嚴(yán)重時(shí)會(huì)造成單臺(tái)電機(jī)過(guò)載,甚至機(jī)械軸斷裂,為此必須采取一定的控制方法,保證兩臺(tái)驅(qū)動(dòng)電機(jī)的速度同步。為消除齒輪嚙合間隙對(duì)系統(tǒng)造成的影響,本文建立了雙永磁同步電機(jī)驅(qū)動(dòng)伺服系統(tǒng)含齒隙時(shí)的動(dòng)力學(xué)模型,分析了齒輪嚙合原理,設(shè)計(jì)了基于變偏置力矩的雙電機(jī)消隙控制策略,對(duì)兩臺(tái)電機(jī)的輸出轉(zhuǎn)矩進(jìn)行聯(lián)動(dòng)控制,始終保證至少有一個(gè)小齒輪與大齒輪嚙合,使大齒輪無(wú)法在齒隙中自由擺動(dòng),降低齒隙對(duì)系統(tǒng)的影響,從而精確傳遞力矩、速度和位移。傳統(tǒng)雙PI并行控制下,當(dāng)其中一臺(tái)電機(jī)受到負(fù)載擾動(dòng)時(shí),兩臺(tái)電機(jī)之間將出現(xiàn)較大的速度同步誤差,由于兩臺(tái)電機(jī)之間是齒輪剛性連接,極易引發(fā)差速振蕩現(xiàn)象,嚴(yán)重時(shí)還會(huì)造成單臺(tái)電機(jī)過(guò)載甚至機(jī)械軸斷裂。針對(duì)該問(wèn)題,本文結(jié)合滑模控制算法和交叉耦合控制結(jié)構(gòu),提出一種轉(zhuǎn)速同步控制策略。該控制策略采用一種積分型滑模速度控制器來(lái)提高電機(jī)的抗擾性,并增強(qiáng)了兩臺(tái)電機(jī)之間的速度耦合作用,通過(guò)將兩臺(tái)電機(jī)之間的轉(zhuǎn)速差信息反饋到兩臺(tái)電機(jī)的電流環(huán),來(lái)快速補(bǔ)償兩臺(tái)電機(jī)之間的速度同步誤差。同時(shí),本文研究了同步耦合系數(shù)的取值對(duì)系統(tǒng)同步性能的影響,通過(guò)仿真和實(shí)驗(yàn)選取了同步耦合系數(shù)的最優(yōu)值,增強(qiáng)了系統(tǒng)的抗負(fù)載擾動(dòng)能力,提升了系統(tǒng)的轉(zhuǎn)速同步性能。最后,搭建了雙電機(jī)驅(qū)動(dòng)伺服系統(tǒng)的硬件實(shí)驗(yàn)平臺(tái),編寫了實(shí)驗(yàn)程序,分別對(duì)傳統(tǒng)雙PI并行控制和轉(zhuǎn)速同步控制策略進(jìn)行了實(shí)驗(yàn)驗(yàn)證。實(shí)驗(yàn)結(jié)果表明,當(dāng)系統(tǒng)受到負(fù)載擾動(dòng)時(shí),轉(zhuǎn)速同步控制策略不僅可以降低轉(zhuǎn)速跟蹤誤差和同步誤差,同時(shí)能夠縮短系統(tǒng)的恢復(fù)時(shí)間,有效提升系統(tǒng)的同步性能,降低差速振蕩風(fēng)險(xiǎn)。
[Abstract]:The double motor drive gear drive system has the advantages of high output power, compact structure, high efficiency, low cost and so on, so it has been widely used in heavy load situations. The servo motor drives the load to change direction frequently, it is difficult to overcome the transmission error and the return range error caused by the meshing clearance, which seriously affects the drive precision and the system performance of the servo system. When the two motors in the system drive the load together, because the actual motor parameters are not consistent, the torsional characteristics of the transmission chain are different, and the motor is disturbed by different factors, which will lead to the speed synchronization error between the drive motors. It is easy to cause differential oscillation, which can lead to overload of single motor and even fracture of mechanical shaft when it is serious. Therefore, certain control methods must be adopted. In order to eliminate the influence of gear meshing clearance on the system, the dynamic model of double permanent magnet synchronous motor drive servo system with tooth gap is established in this paper. The gear-meshing principle is analyzed, and the anti-gap control strategy of double-motor based on variable offset torque is designed. The output torque of two motors is controlled by linkage, which always ensures that at least one pinion and big gear are engaged. The large gear is unable to swing freely in the gear gap, and the influence of the gear gap on the system is reduced. Thus, the torque, velocity and displacement can be accurately transferred. Under the traditional dual Pi parallel control, one of the motors is disturbed by load. There will be a large speed synchronization error between the two motors. Due to the rigid connection between the two motors, it is easy to cause differential oscillation. In order to solve this problem, the sliding mode control algorithm and cross-coupling control structure are combined to solve the problem. A synchronous speed control strategy is proposed, which uses an integral sliding mode speed controller to improve the immunity of the motor and enhance the speed coupling between the two motors. The information of the speed difference between the two motors is fed back to the current loop of the two motors to compensate the speed synchronization error between the two motors quickly. At the same time. In this paper, the effect of the synchronous coupling coefficient on the synchronization performance of the system is studied. The optimal value of the synchronous coupling coefficient is selected by simulation and experiment, and the anti-load disturbance ability of the system is enhanced. The speed synchronization performance of the system is improved. Finally, the hardware experiment platform of dual-motor drive servo system is built, and the experimental program is compiled. The experimental results show that when the system is disturbed by the load, the traditional dual Pi parallel control and rotational speed synchronization control strategy are verified by experiments. The speed synchronization control strategy can not only reduce the speed tracking error and synchronization error, but also shorten the recovery time of the system, effectively improve the synchronization performance of the system and reduce the risk of differential oscillation.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM921.541

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