【摘要】：由于直齒輪在傳動(dòng)時(shí),嚙合齒對(duì)數(shù)較少,極易產(chǎn)生沖擊,從而會(huì)在傳動(dòng)中出現(xiàn)噪聲大、不平穩(wěn)等問(wèn)題。而錐齒輪在傳動(dòng)中齒輪嚙合的重合度系數(shù)遠(yuǎn)高于直齒輪,所以錐齒輪在傳動(dòng)中表現(xiàn)出噪聲低、平穩(wěn)和承載能力高等優(yōu)點(diǎn),從而被廣泛用于各個(gè)制造業(yè),如汽車(chē)、航空、航海和機(jī)床等行業(yè),在涉及到機(jī)械領(lǐng)域中占有舉足輕重的地位。由于剛生產(chǎn)出的錐齒輪表面有毛刺,使用前必須對(duì)其進(jìn)行精確加工工藝。因?yàn)閯偵a(chǎn)出來(lái)的錐齒輪表面光潔度、毛刺等質(zhì)量問(wèn)題會(huì)嚴(yán)重影響機(jī)械的傳動(dòng)噪聲和平穩(wěn)性。而往往未經(jīng)過(guò)再加工的錐齒輪大都存在質(zhì)量問(wèn)題。于是研齒技術(shù)被提出,現(xiàn)今研齒技術(shù)是改善錐齒輪質(zhì)量的最優(yōu)方法之一。研齒就是精確控制施加齒輪面的相互作用力和齒面的相對(duì)滾動(dòng)速度,并在這一過(guò)程中向齒輪面中噴射研磨劑,通過(guò)齒輪面的滑動(dòng)和相互作用力使研磨劑切割齒面極小的凸金屬,來(lái)提高錐齒輪質(zhì)量,因此在研齒過(guò)程中要對(duì)電機(jī)進(jìn)行高效率和高精度的控制。而現(xiàn)今國(guó)內(nèi)市場(chǎng)使用的大部分研齒機(jī)都是半自動(dòng)的,齒輪的研磨主要依賴(lài)技術(shù)人員的經(jīng)驗(yàn),對(duì)齒輪研磨的控制和質(zhì)量難以滿(mǎn)足要求。高效率、高精度的錐齒輪研齒機(jī)大都依賴(lài)國(guó)外進(jìn)口,這些問(wèn)題嚴(yán)重限制我國(guó)制造業(yè)的發(fā)展,因此如何提高研齒機(jī)效率和控制精度,以滿(mǎn)足國(guó)內(nèi)市場(chǎng)需求,已迫在眉睫。本文主要以錐齒輪研齒機(jī)的交流伺服系統(tǒng)作為研究對(duì)象,針對(duì)永磁同步電機(jī)的強(qiáng)耦合、非線性特性通過(guò)坐標(biāo)變換進(jìn)行解耦,以達(dá)到類(lèi)似直流電機(jī)的控制方式,進(jìn)而實(shí)現(xiàn)PMSM的矢量控制,并在此基礎(chǔ)上建立了電流環(huán)、速度環(huán)、位置環(huán)三閉環(huán)PID控制,并對(duì)交流伺服系統(tǒng)PID控制的三閉環(huán)參數(shù)進(jìn)行整定分析。由于研齒機(jī)的進(jìn)給機(jī)械執(zhí)行機(jī)構(gòu)對(duì)研齒機(jī)的性能有一定影響,通過(guò)分析和動(dòng)力學(xué)理論建立執(zhí)行機(jī)構(gòu)的等效數(shù)學(xué)模型,將執(zhí)行機(jī)構(gòu)加入到系統(tǒng)中進(jìn)行仿真。由于在控制過(guò)程中,控制系統(tǒng)會(huì)受到多種因素的影響,而這些干擾因素又是不確定的,這會(huì)在較大程度上使高性能控制難以實(shí)現(xiàn),致使傳統(tǒng)的PID控制方法難以滿(mǎn)足要求,于是本文采用了間接自適應(yīng)模糊控制,并基于李雅普諾夫綜合法進(jìn)行設(shè)計(jì)。這種控制方法利用模糊系統(tǒng)具有萬(wàn)能逼近的特點(diǎn),并通過(guò)自適應(yīng)參數(shù)的調(diào)整迫使電機(jī)的輸出漸進(jìn)收斂于給定參考信號(hào),通過(guò)理論和仿真的驗(yàn)證,即使系統(tǒng)外部環(huán)境變化或擾動(dòng)發(fā)生突變時(shí),系統(tǒng)的輸出響應(yīng)依然可以較好的跟蹤參考信號(hào),結(jié)果驗(yàn)證本文采用的方法使得系統(tǒng)對(duì)負(fù)載擾動(dòng)的敏感性遠(yuǎn)低于傳統(tǒng)PID控制,在控制精度和響應(yīng)速度等方面也高于傳統(tǒng)PID控制,并且伺服系統(tǒng)的動(dòng)靜態(tài)特性和魯棒性較好。
[Abstract]:In the transmission of spur gear, the number of meshing teeth is less, so it is easy to produce impact, so there will be some problems in transmission, such as high noise, unstable and so on. The coincidence coefficient of bevel gear in transmission is much higher than that of straight gear, so bevel gear has the advantages of low noise, stable and high bearing capacity in transmission, so it is widely used in various manufacturing industries, such as automobile, aviation, and so on, so bevel gear is widely used in various manufacturing industries, such as automobile, aviation, etc. Navigation and machine tools and other industries, in the field of machinery plays an important role. Because of the burr on the surface of the newly produced bevel gear, a precise machining process must be carried out before it is used. Because the newly produced bevel gear surface finish, burr and other quality problems will seriously affect the mechanical transmission noise and stationarity. But the bevel gear that often does not go through the reprocessing mostly has the quality problem. Therefore, tooth lapping technology is put forward. Nowadays, tooth lapping technology is one of the best methods to improve the quality of bevel gears. Tooth lapping is to precisely control the interaction force applied to the gear surface and the relative rolling speed of the tooth surface, and in this process, the abrasive is sprayed into the gear surface to cut the convex metal with minimal tooth surface through the sliding and interaction force of the gear surface. In order to improve the quality of bevel gear, it is necessary to control the motor with high efficiency and precision in the process of tooth lapping. At present, most of the gear lapping machines used in the domestic market are semi-automatic, the grinding of gears mainly depends on the experience of technicians, and the control and quality of gear lapping is difficult to meet the requirements. Most of the bevel gear lapping machines with high efficiency and precision depend on foreign imports. These problems seriously limit the development of our manufacturing industry. Therefore, it is urgent to improve the efficiency and control precision of bevel gear lapping machines in order to meet the demand of domestic market. This paper mainly takes the AC servo system of bevel gear lapping machine as the research object, aiming at the strong coupling of permanent magnet synchronous motor (PMSM), the nonlinear characteristic is decoupled by coordinate transformation, in order to achieve the control mode similar to DC motor. Then the vector control of PMSM is realized, and the three closed loop PID control of current loop, velocity loop and position loop is established, and the three closed loop parameters of AC servo system PID control are set up and analyzed. Because the feed mechanism of the gear lapping machine has a certain influence on the performance of the gear lapping machine, the equivalent mathematical model of the actuator is established through the analysis and dynamics theory, and the actuator is added to the system for simulation. In the process of control, the control system will be affected by many factors, and these disturbance factors are uncertain. This will make the high performance control difficult to achieve, and the traditional PID control method can not meet the requirements. Therefore, indirect adaptive fuzzy control is adopted in this paper, and the design is based on Lyapunov synthesis method. This control method takes advantage of the universal approximation of the fuzzy system and forces the output of the motor to converge to the given reference signal through the adjustment of the adaptive parameters, which is verified by the theory and simulation. Even when the external environment changes or the disturbance changes suddenly, the output response of the system can still track the reference signal well. The results show that the sensitivity of the system to load disturbance is much lower than that of the traditional PID control, and the results show that the method proposed in this paper makes the system more sensitive to the load disturbance. The control accuracy and response speed of the servo system are also higher than those of the traditional PID control, and the dynamic and static characteristics and robustness of the servo system are better.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TM921.541

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