【作者】 卢建强；

【导师】 孙培德；

【作者基本信息】 东华大学 ， 电力电子与电力传动， 2005， 硕士

【摘要】 随着现代科学技术的飞速发展,特别是计算机技术、微电子技术、电力电子技术和电机制造技术的巨大进步,使得伺服控制技术在许多高科技领域得到了非常广泛的应用;如激光加工、机器人、数控机床、大规模集成电路制造、办公自动化设备、柔性制造系统以及雷达和各种军用武器的随动系统等。 交流伺服控制技术自20世纪90代初发展至今,技术日臻成熟,性能不断提高;以交流伺服电动机为执行机构的交流伺服控制系统具有了可与直流伺服控制系统相抗衡的特性,从而使得交流伺服电动机固有的优势得到了充分的发挥,交流伺服控制系统动已成为现代伺服控制系统发展的新方向。目前,交流伺服控制系统已经广泛应用于数控机床、轧钢设备、造纸设备、纺织设备等自动化领域。 本课题的目的是研究以圆网印花为工程背景的基于CAN总线的智能双轴交流伺服控制系统。通过学习交流伺服控制系统的原理和设计方法,在熟悉现场总线技术和圆网印花技术的基础上,认真探讨了基于CAN总线的智能双轴交流伺服控制系统的控制方案;对高精度位置伺服和速度伺服进行了较深层次的研究。 本课题首先对永磁同步电动机(PMSM)进行数学建模,然后利用MATLAB中的SIMULINK对其进行了仿真,其中PMSM的额定参数采用奥地利贝加莱公司生产的8MSA4S.R0-30伺服电机和圆网印花机的真实数据;其次对具有位置、速度、电流三重闭环控制的PMSM伺服控制系统进行了仿真,并通过扩充临界比例度法对其PID参数进行了初步整定;然后又利用BP神经网络对PID参数进行优化和自整定,从而提高交流伺服电动机的定位精度和自适应性,并利用该PID参数对位置随动性能进行了考察,结果完全符合系统的要求。最后,将贝加莱公司的B&R 2000 PCC、基于CAN总线的交流伺服驱动器ACOPOS 1022以及伺服电机8MSA4S.R0-30一起构成双轴伺服控制系统的硬件,其控制结构仍采用位置、速度、电流三重闭环控制方式,在此基础上进行智能控制的研究。本课题软件设更多还原

【Abstract】 As the rapid development of modern science technology, especially the progress of computer technology, micro-electronics technology, power electronics technology, and motor manufacture technology, servo controltechnology has been applied in lots of areas of advanced science technology; for example laser machining, robot, numerical control tool, large integrated circuit technology manufacture, office automation facility, flexible manufacturing system, radar and many kinds of servo systems for military equipments etc.Since 20 century 90s’, AC servo control technology has gradually grown up, and its performance has been gradually improved; the performance of AC servo control systems applying AC motor can be as good as that of DC servo control systems’, so the own advantages of AC motor are exerted, AC servo control system has become a new evolution direction of modern servo control system. At present, AC servo control system has widely applied in automation area, for example NC machine,steel rolling equipment, paper making equipment and weave machine etc. The purpose of this paper is researching intelligent two-axis AC servo control system based on CAN BUS in the background of rotary scream printing. This paper discuss the control methods of intelligent two-axis AC servo control system based on CAN BUS by studying the theory and frame of AC servo control system, being familiar with field bus technology and rotary scream printing technology; this paper have a deep-seated research for accurate position servo and accurate speed servo.At first, this paper designed a mathematical model for PMSM, then PMSM is simulated by simulink at matlab, the rating parameters of PMSM adopt the real parameters of 8MSA4S.R0-30 servo motor made in Austria B&R and rotary scream printing machine; then provided simulation test for PMSM controlled by three closed loops of current loop, speed loop and position loop, and PID parameters are adjusted by expansion critical scale measure; then the PID parameters are optimized and self-adjusted, which improve AC servo motor’s position and speed accuracy and self-adaptive, then the servo performance is examined by the parameters, and the effect is satisfied. At last, the hardware of two-axises servo control system is made up of B&R 2000 PCC, CAN BUS, servo drive (ACOPOS 1022) and servo motor ( 8MSA4S.R0-30), its control structure contained position loop, speed loop and current loop, which is researched on by intelligent control arithmetic. Software core of this paper is the program written by AnsiC inAutomation Studio, BP neural networks are used in control programme, the PID parameters of every servo drive’s position controller and speed controller are adjusted and optimized in online method, then servo drives worked at the PID parameters. B&R 2000 PCC were used as a NC manager, which transmits the photoelectricity encoder signal of master axis servo drive system to all slave axises by means of net broadcasting with CAN BUS, thereby which make every slave axises accurately following master axis, so perfect control capability can be realized.Analyzing the result of simulation and experiment, BP neural networks PID control has good self-adaptive and strong rubstness. This control system has the virtue of PID parameters adjusting and optimizing automatically compared with traditional PID control system, so inexperienced workers also operate the control system expertly. thus it can be seen that the paper has some practical worth and meaning in research as well as in application .更多还原