基于RTX的某綜合實驗臺電機拖動系統(tǒng)的研制
發(fā)布時間：2019-03-14 12:47
【摘要】：.在現(xiàn)代社會生產(chǎn)生活各個領(lǐng)域,電機拖動系統(tǒng)得到了越來越廣泛的應(yīng)用。在某些特殊場合,為滿足設(shè)備的工作條件,對電機拖動系統(tǒng)在載荷、轉(zhuǎn)速、控制精度等功能與性能方面的要求不斷提高。目前,電機拖動已經(jīng)從傳統(tǒng)額定轉(zhuǎn)速運行到變頻調(diào)速運行,甚至要求電機達(dá)到轉(zhuǎn)矩控制和位置控制。因此,研究與應(yīng)用高精度、高響應(yīng)的實時傳感器矢量控制的轉(zhuǎn)速控制、轉(zhuǎn)矩控制和位置控制的電機拖動系統(tǒng),對我國船舶、航天、航空和國防建設(shè)的發(fā)展有著十分重要的意義。本文以哈爾濱工程大學(xué)承擔(dān)的、由中船重工某研究所下達(dá)的科研課題“某綜合實驗臺”為背景,根據(jù)其電機拖動系統(tǒng)的特殊要求,著重討論了該實驗臺電機拖動系統(tǒng)的機架設(shè)計和實時控制軟件的開發(fā)。對其電機拖動系統(tǒng)進(jìn)行了基于RTX的開發(fā)研制,實現(xiàn)了對電機的轉(zhuǎn)速、轉(zhuǎn)矩和位置的高精度、高響應(yīng)的實時傳感器矢量控制。本文主要進(jìn)行了以下幾方面工作:首先,對電機拖動系統(tǒng)的功能和輸出要求進(jìn)行了分析,確定了系統(tǒng)的總體方案。在結(jié)構(gòu)方面采用了自平衡的電機底座和機架方式,以降低試驗中對試驗場地的基礎(chǔ)要求。為了提高系統(tǒng)的抗干擾和穩(wěn)定性,采用了工控機、變頻器、光纖和RS485模塊以及符合工業(yè)和軍用標(biāo)準(zhǔn)的高質(zhì)量元件搭建了電機的控制平臺。為了滿足在大載荷下高精度、高響應(yīng)的實時控制要求,采用了 Win32和RTX作為控制系統(tǒng)的實時運行平臺,RTSS作為控制系統(tǒng)的實時控制核心。其次,根據(jù)電機拖動系統(tǒng)的結(jié)構(gòu)設(shè)計要求,對電機拖動系統(tǒng)的機架進(jìn)行了結(jié)構(gòu)設(shè)計和校核計算。建立了電機和機架的三維模型,并通過有限元等方法對系統(tǒng)進(jìn)行了各工況下的分析。然后,根據(jù)控制系統(tǒng)的功能要求,搭建了控制系統(tǒng)軟件的總體構(gòu)架,實現(xiàn)了遠(yuǎn)程控制和本地控制兩種實時控制模式。工作中,確定了基于MFC和RTSS的實時控制方案,設(shè)計了程序流程圖,完成了 RTX串口驅(qū)動程序與本系統(tǒng)的整合,在Win32和RTX系統(tǒng)平臺上,編寫了控制系統(tǒng)的人機界面和控制程序,研究整合了變頻器與工控機數(shù)據(jù)通訊源程序,實現(xiàn)了對電機的轉(zhuǎn)速、轉(zhuǎn)矩和位置的高精度、高響應(yīng)的實時傳感器矢量控制。最后,在中船重工某研究所試驗場,結(jié)合系統(tǒng)現(xiàn)場調(diào)試試驗,對工控機與變頻器進(jìn)行了實時控制性能測試。實驗結(jié)果表明控制系統(tǒng)滿足了電機矢量實時控制系統(tǒng)的要求,解決了控制軟件在Win32操作系統(tǒng)下難以滿足實時性的難題,實現(xiàn)了電機高精度、高響應(yīng)的實時傳感器矢量控制的轉(zhuǎn)速控制、轉(zhuǎn)矩控制和位置控制。
[Abstract]:. In modern society, every field of production and life, motor drive system has been more and more widely used. In some special situations, in order to meet the working conditions of the equipment, the requirements for the function and performance of the motor driving system such as load, rotational speed, control precision and so on are continuously improved. At present, the motor drive has already run from the traditional rated speed to the frequency conversion speed regulation operation, even requires the motor to achieve the torque control and the position control. Therefore, the research and application of high-precision, high-response real-time sensor vector control speed control, torque control and position control motor drive system is of great significance for the development of ship, aerospace, aviation and national defense construction in our country. Under the background of a scientific research project "a comprehensive experimental platform", which was undertaken by Harbin University of Engineering and issued by a certain research institute of China Shipbuilding heavy Industry, and according to the special requirements of its motor driving system, The frame design and the development of real-time control software of the motor driving system are discussed in detail. The motor driving system is developed based on RTX, and the real-time sensor vector control with high precision and high response to the speed, torque and position of the motor is realized. The main work of this paper is as follows: firstly, the function and output requirement of the motor drive system are analyzed, and the overall scheme of the system is determined. In the aspect of structure, the self-balanced motor base and frame are adopted in order to reduce the basic requirements of the test site. In order to improve the anti-interference and stability of the system, industrial control computer, frequency converter, optical fiber and RS485 modules and high-quality components in accordance with industrial and military standards are used to build the control platform of the motor. In order to meet the requirements of high-precision and high-response real-time control under large loads, Win32 and RTX are used as the real-time operating platform of the control system, and RTSS is used as the real-time control core of the control system. Secondly, according to the structure design requirements of the motor drive system, the frame structure design and checking calculation of the motor drive system are carried out. The three-dimensional model of motor and frame is established, and the system is analyzed by finite element method. Then, according to the functional requirements of the control system, the overall framework of the control system software is built, and two real-time control modes, remote control and local control, are realized. In the work, the real-time control scheme based on MFC and RTSS is determined, the program flow chart is designed, and the integration of the RTX serial port driver and the system is completed. On the platform of Win32 and RTX, the man-machine interface and the control program of the control system are compiled. The real-time sensor vector control with high precision and high response to the speed, torque and position of the motor is realized by integrating the data communication source program between the frequency converter and the industrial control computer. Finally, the real-time control performance of the industrial control computer and the frequency converter is tested in a certain institute test site of China Shipbuilding heavy Industry, combined with the system field debugging test. The experimental results show that the control system meets the requirements of the motor vector real-time control system, solves the difficult problem that the control software is difficult to meet the real-time performance under the Win32 operating system, and realizes the high precision of the motor. High response real-time sensor vector control for speed control, torque control and position control.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM921
本文編號：2439991
[Abstract]:. In modern society, every field of production and life, motor drive system has been more and more widely used. In some special situations, in order to meet the working conditions of the equipment, the requirements for the function and performance of the motor driving system such as load, rotational speed, control precision and so on are continuously improved. At present, the motor drive has already run from the traditional rated speed to the frequency conversion speed regulation operation, even requires the motor to achieve the torque control and the position control. Therefore, the research and application of high-precision, high-response real-time sensor vector control speed control, torque control and position control motor drive system is of great significance for the development of ship, aerospace, aviation and national defense construction in our country. Under the background of a scientific research project "a comprehensive experimental platform", which was undertaken by Harbin University of Engineering and issued by a certain research institute of China Shipbuilding heavy Industry, and according to the special requirements of its motor driving system, The frame design and the development of real-time control software of the motor driving system are discussed in detail. The motor driving system is developed based on RTX, and the real-time sensor vector control with high precision and high response to the speed, torque and position of the motor is realized. The main work of this paper is as follows: firstly, the function and output requirement of the motor drive system are analyzed, and the overall scheme of the system is determined. In the aspect of structure, the self-balanced motor base and frame are adopted in order to reduce the basic requirements of the test site. In order to improve the anti-interference and stability of the system, industrial control computer, frequency converter, optical fiber and RS485 modules and high-quality components in accordance with industrial and military standards are used to build the control platform of the motor. In order to meet the requirements of high-precision and high-response real-time control under large loads, Win32 and RTX are used as the real-time operating platform of the control system, and RTSS is used as the real-time control core of the control system. Secondly, according to the structure design requirements of the motor drive system, the frame structure design and checking calculation of the motor drive system are carried out. The three-dimensional model of motor and frame is established, and the system is analyzed by finite element method. Then, according to the functional requirements of the control system, the overall framework of the control system software is built, and two real-time control modes, remote control and local control, are realized. In the work, the real-time control scheme based on MFC and RTSS is determined, the program flow chart is designed, and the integration of the RTX serial port driver and the system is completed. On the platform of Win32 and RTX, the man-machine interface and the control program of the control system are compiled. The real-time sensor vector control with high precision and high response to the speed, torque and position of the motor is realized by integrating the data communication source program between the frequency converter and the industrial control computer. Finally, the real-time control performance of the industrial control computer and the frequency converter is tested in a certain institute test site of China Shipbuilding heavy Industry, combined with the system field debugging test. The experimental results show that the control system meets the requirements of the motor vector real-time control system, solves the difficult problem that the control software is difficult to meet the real-time performance under the Win32 operating system, and realizes the high precision of the motor. High response real-time sensor vector control for speed control, torque control and position control.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM921
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