本文選題：永磁同步直線電機(jī)　切入點(diǎn)：前饋控制　出處：《中北大學(xué)》2016年碩士論文

【摘要】：永磁同步直線電機(jī)越來越多地應(yīng)用于高速高精度的定位系統(tǒng)中。永磁直線電機(jī)驅(qū)動(dòng)方式不需要中間轉(zhuǎn)換環(huán)節(jié),可直接提供直線運(yùn)動(dòng),從而減少了因傳動(dòng)鏈而引入的誤差,無需接觸便可提供驅(qū)動(dòng)力,進(jìn)而得到較高的運(yùn)行速度和較高的重復(fù)定位精度,使系統(tǒng)較為穩(wěn)定。但正是由于直驅(qū)進(jìn)給系統(tǒng)省去了中間轉(zhuǎn)換環(huán)節(jié),使得系統(tǒng)容易被外界擾動(dòng)因素(如摩擦力、推力波動(dòng)等)所影響,降低了系統(tǒng)的動(dòng)態(tài)精度,容易引起系統(tǒng)不穩(wěn)定,限制了永磁同步直線電機(jī)的應(yīng)用。同時(shí),僅采用反饋控制會(huì)出現(xiàn)電機(jī)響應(yīng)滯后的問題,影響了電機(jī)的跟蹤精度。因此有必要對(duì)抑制摩擦擾動(dòng)和推力波動(dòng)擾動(dòng)的影響的方法以及對(duì)提高系統(tǒng)跟蹤精度方法進(jìn)行研究。本文首先基于dSPACE1103和Copley Xenus型驅(qū)動(dòng)器搭建了電機(jī)的運(yùn)動(dòng)控制系統(tǒng)。對(duì)于推力波動(dòng)擾動(dòng)的抑制問題,通過分析推力波動(dòng)特性,基于位置域頻率和初相位信息建立了推力波動(dòng)數(shù)學(xué)模型。電機(jī)在不同速度下運(yùn)行時(shí)基于遺傳算法辨識(shí)方法分別確定了實(shí)驗(yàn)直線電機(jī)的推力波動(dòng)模型參數(shù),以此設(shè)計(jì)推力波動(dòng)前饋補(bǔ)償器,實(shí)現(xiàn)直線電機(jī)的推力波動(dòng)抑制。對(duì)于摩擦擾動(dòng)的抑制問題,首先分析摩擦特性,選用Gauss摩擦模型。其次設(shè)計(jì)電機(jī)速度前饋控制器和加速度前饋控制器,仿真實(shí)驗(yàn)表明,加入速度和加速前饋后電機(jī)的最大位置跟蹤誤差明顯下降。根據(jù)電機(jī)在不同速度下測(cè)得的摩擦力值,運(yùn)用差分進(jìn)化算法辨識(shí)出直線電機(jī)的摩擦模型參數(shù),以此設(shè)計(jì)摩擦前饋補(bǔ)償器,實(shí)現(xiàn)永磁同步直線電機(jī)的摩擦抑制。針對(duì)純反饋所引起的位置跟蹤誤差大的問題,根據(jù)前期電機(jī)調(diào)試的經(jīng)驗(yàn),結(jié)合模糊推理方式為Mamdani推理法的模糊邏輯理論,設(shè)計(jì)了帶可調(diào)因子的模糊邏輯前饋控制器。應(yīng)用該前饋控制器,經(jīng)仿真分析可得,電機(jī)的最大位置跟蹤誤差從原先的17.8μm降到1μm;將其加載到電機(jī)實(shí)驗(yàn)控制系統(tǒng)中,測(cè)得電機(jī)最大位置跟蹤誤差從18.3μm降到了4.3μm,驗(yàn)證了該方法的有效性。本文以永磁同步直線電機(jī)為被控對(duì)象搭建了運(yùn)動(dòng)仿真分析系統(tǒng)和實(shí)驗(yàn)平臺(tái),研究了對(duì)影響系統(tǒng)跟蹤性能的摩擦力和推力波動(dòng)進(jìn)行抑制的方法,并基于模糊邏輯理論設(shè)計(jì)了帶可調(diào)因子的模糊邏輯前饋控制器。這有助于提高直驅(qū)進(jìn)給系統(tǒng)的伺服性能,對(duì)于直驅(qū)進(jìn)給系統(tǒng)的應(yīng)用是有意義、有價(jià)值的。
[Abstract]:Permanent magnet linear synchronous motor (PMSM) is more and more used in high speed and high precision positioning system. The driving force can be provided without contact, and then higher running speed and high repeatable positioning accuracy can be obtained, which makes the system more stable. However, it is precisely because the direct drive feed system saves the intermediate conversion link, The system is easily affected by external disturbance factors (such as friction, thrust fluctuation, etc.), which reduces the dynamic precision of the system, easily leads to the instability of the system, and limits the application of the permanent magnet synchronous linear motor (PMSM). Only feedback control will lead to the problem of motor response lag. Therefore, it is necessary to study the methods of restraining friction disturbance and thrust fluctuation disturbance and to improve the tracking accuracy of the system. Firstly, this paper is based on dSPACE1103 and Copley Xenus driver. The motion control system of the motor is presented. By analyzing the characteristics of thrust fluctuation, Based on the position domain frequency and initial phase information, the mathematical model of thrust fluctuation is established, and the parameters of thrust fluctuation model of experimental linear motor are determined based on genetic algorithm identification method when the motor is running at different speeds. A feedforward compensator for thrust fluctuation is designed to suppress the thrust fluctuation of linear motor. The Gauss friction model is selected. Secondly, the speed feedforward controller and acceleration feedforward controller are designed, and the simulation results show that, The maximum position tracking error of the motor decreases obviously after adding speed and acceleration feedforward. According to the friction force measured by the motor at different speeds, the friction model parameters of linear motor are identified by differential evolution algorithm. The friction feedforward compensator is designed to suppress friction of permanent magnet synchronous linear motor. Aiming at the problem of large position tracking error caused by pure feedback, according to the experience of the previous motor debugging, A fuzzy logic feedforward controller with adjustable factors is designed based on the fuzzy logic theory of Mamdani reasoning method. The maximum position tracking error of the motor is reduced from 17.8 渭 m to 1 渭 m. The maximum position tracking error is reduced from 18.3 渭 m to 4.3 渭 m, which verifies the effectiveness of this method. In this paper, a motion simulation analysis system and an experimental platform for permanent magnet synchronous linear motor (PMSM) are built. In this paper, the method of restraining friction and thrust fluctuation affecting the tracking performance of the system is studied, and a fuzzy logic feedforward controller with adjustable factors is designed based on the fuzzy logic theory, which is helpful to improve the servo performance of the direct drive feed system. It is meaningful and valuable to the application of direct drive feed system.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TM359.4

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