【作者】 杜志强；

【导师】 陈幼平； 周祖德； 艾武；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2006， 博士

【摘要】 直线电机直接驱动精密控制系统是近十几年发展起来的一种新型进给传动方式,由于它消除了传统机械传动链所带来的一系列不良影响,极大地提高了进给系统的快速反应能力和控制精度,在各类高速、精密加工设备中具有广阔的应用前景。因此,得到了国内外学术界和工业界的广泛关注。本论文在明确直线电机及其控制技术研究的理论意义、实用价值、发展现状和趋势的基础上,针对一种新研制的高响应短行程永磁直线直流电机提出了位置伺服控制的相关理论和方法,重点研究了直线电机的数学模型、控制策略、控制系统的设计与实现以及相关的实验,解决了高响应短行程永磁直线直流电机应用于直接驱动动态聚焦模块伺服控制系统实践过程中所遇到的相关技术问题。首先阐述了短行程永磁直线直流电机的基本工作原理和结构特点,然后从能量转换的基本定律出发,采用理论分析的方法,结合其具体应用对象对直线电机动态特性的关系式进行了推导,提出和建立了直线电机的数学模型,给出了直线电机的动态系统结构图和传递函数关系式。此外,还对直线电机的动态特性和影响其动态性能的参数进行了分析,并对其数学模型进行了实验验证。在对直线电机伺服控制系统数学模型进行研究的基础上,针对直线电机位置伺服控制系统要求有较好的位置跟踪性能的特点,提出了基于对象模型的位置前馈跟踪控制策略,设计了相应的反馈控制器和前馈控制器。研制出了基于数字信号处理器DSP(TMS320LF2407A)的直线电机数模混合双闭环(位置环和电流环)位置伺服控制系统,即位置环为数字控制,由DSP完成,用于实现位置前馈跟踪控制算法和较高的位置控制精度,而电流环及PWM由模拟电路完成,以满足电流环实时控制的需要。此外,对基于DSP的数字控制器的硬件采用总线隔离驱动技术结合其实际应用进行了系统扩展,设计了数字控制器软件,并对硬件和软件设计中的相关技术进行了研究和探讨。针对直线电机实验研究的特殊性,建立了基于DSP开发系统的实验研究平台,利用直线电机自带的光栅尺,对直线电机及其位置伺服控制系统进行了系统的实验研究。首先对直线电机的模型参数和性能参数进行了测量,然后对位置前馈跟踪控制策略进行了实验验证,实验对比结果表明了提出的控制策略的有效性。研制了直线电机直接驱动动态聚焦模块试验样机系统。论文对一种新研制的高响应短行程永磁式直线直流电机的工作机理、数学模型、控制策略、控制系统的设计与实现以及相关的实验进行了系统的研究,并在理论和实践研究中取得了一些成果。更多还原

【Abstract】 The precision control system of using linear motor direct driving is a new feed transmission mode developed in recent decade. Since the precision control systems of using linear motor direct driving can eliminate the disadvantages of the conventional rotary-to-linear conversion mechanism, improve greatly the rapid response and control precision of the direct drive feed transmission system and have a wide application future in the manufacturing industry, which have received wider attention in the academic field and in the industrial field.In this thesis, the theory and method of position servo control for a new high-response short stroke PM linear DC motor are proposed. Its mathematical model, the control strategy, design and implementation of the servo control system and some related experiments are mainly studied. The technological problems appearing in the processing of researching on a linear servo drive system for the dynamic focus module of using the high-response short stroke PM linear DC motor are solved. Which are based on comprehending theoretical and practical meaning, and research status and developing trends of the linear motor and its control technology.Firstly, the configuration features and operating principle of the high-response short stroke PM linear DC motor are described. Next, the coupling relations between mechanical and electromagnetic equations are deduced by means of the energy transfer mechanism using a method of theory analysis combined with practice application. The mathematical model of the high-response short stroke PM linear DC motor is proposed, and the block diagram of the dynamic model and transform function equations are given. Finally, the dynamic performance and the parameters of affecting the dynamic performance are analysed, and the effectiveness of the mathematical model is verified by the experimental results.The model-based position feedforward tracking control algorithm and strategy are proposed to satisfy the requirement of position tracking performance based on the research on the mathematical model of the servo control system. The feedback and feedforward controllers are designed. A digital-analog mixed dual closed-loop (position loop and current loop) position servo control system is constructed. The position loop adopts the digital controller based on the Digital Signal Processor (DSP- TMS320LF2407A) to implement the position feedforward tracking control algorithm and achieve the high control accuracy, and the electric current loop and the pulse width modulation (PWM) employ the analog controller to meet the requirement of the real-time control for the current loop. In addition, the hardware of digital controller is developed using bus-isolated technology with practical application, the software of digital controller is designed, and some key techniques are also discussed in hardware and software design.The experimental research of the linear DC motor and the position servo control system are implemented by means of a DSP-based development platform for the particularity of experiment method. Utilizing the system self-contained linear optical encoder in the linear DC motor, the model parameters and performance parameters are determined. The effectiveness of the proposed control algorithm is verified through the contrastive experiment. A prototype system of the linear motor applied in the direct drive dynamic focus module is developed.Some theoretical and practical achievements are obtained through deeply researching the operating principle, mathematical model, control algorithm and strategy, design and implementation of the servo control system and related experiments of a new high-response short stroke PM linear DC motor in this thesis.更多还原