【作者】 徐旭；

【导师】 车延博；

【作者基本信息】 天津大学 ， 电力电子与电力传动， 2007， 硕士

【摘要】 造波机是一种与海工建筑试验水槽配套的基础设施,它在水槽或水池中激起不同波长和波高的波浪,模拟实际波浪对建筑物或设备的影响,通过测定各种技术数据,为海工建筑或船舶的设计提供依据。本课题即以天津大学港口与海洋工程实验室水槽造波机的建设为背景。造波系统在硬件上主要由PC、运动控制器、伺服电动机及其驱动器、波高仪、数据采集系统以及一些机械部件构成。在完成了造波系统中运动控制器的选型和系统的电气控制设计后,主要完成了系统控制程序的编写和上位机人机界面的设计。波高仪是测量水位变化的仪器,为数据采集提供信号源,本文首先分析了波高仪电路原理,并根据实际电路进行了电路改进,将水位变化的物理信号转化为工业标准的电压信号。造波机控制系统是一个典型交流伺服运动控制系统,伺服电机作为系统的执行元件,其控制效果是整个系统的关键。因此本文除了上述工作外,针对永磁同步伺服电动机(PMSM),首先讨论了其结构原理和数学模型,然后重点阐述了空间电压矢量(SVPWM)原理和PMSM的矢量控制方法,并详细讲解了SVPWM方法的Matlab/Simulink实现的过程和Matlab子模块,最后根据i d=0的控制策略实现了整个PMSM控制系统的仿真。通过对仿真结果的分析,表明所建系统的模型具有可行性。另一方面,由于造波系统中采用的是双伺服电机,双电机的位置同步性能是影响造波效果的一个重要方面。因此从这一角度出发,着重讨论了多电机位置同步控制的策略,对经典的同步控制策略与基于模糊控制补偿器的控制方法进行了分析,在此基础之上引用了参数自调整模糊控制器。通过Matlab仿真实验表明,基于参数自调整的模糊补偿器的控制策略能达到更佳的同步控制效果。造波系统建立后,进行了造波实验,通过规则波实验及其重复性实验,结果表明该系统造波效果良好。更多还原

【Abstract】 Wave-maker is a kind of facility to arouse different kinds of wave in the flume or basin to simulate the impact of natural wave on the construction. The data obtained from the experiments supply proof for the design of architecture or ship. This paper was just based on the establishment of the flume wave-maker in the laboratory of haven and coast engineering of Tianjin University. The system was mainly comprised of PC, motion controller, servo motors, drivers, wave-detector, data-gathering facility and some mechanical parts. The paper introduced the hardware and software of the whole system respectively including electric control, programming, human interface on the PC, etc. As to the wave-detector, first the circuit diagram was analyzed, to obtain the standard industrial voltage signal,the improved circuit was also proposed.The system of wave-maker formed a typical AC servo control system. As the executor of the system, the motors and how to control them were the key points. So apart from the above-mentioned work, the motor (PMSM) was also discussed in detail. First the structure principium and mathematic model were elucidated, then vector control for PMSM and the theory of SVPWM were expounded as key points. Also the process of the computing of SVPWM using Matlab was explained. Finally the whole system of PMSM combined with its control parts was established using Simulink according to the strategy of i d=0. The results of the simulation confirmed the feasibility and correctness of the strategy.On the other hand, the position synchronization of the motors was of great importance to the whole system. From this point of view, the paper also studied the strategies of how to synchronize multi-motors. Methods based on fuzzy logic and conventional ones were analyzed and compared. Furthermore, fuzzy controller based on parameter self-adjustable was applied to the system. Through the simulation of the system using different methods, it was obvious that the strategy based on the parameter-adjustable fuzzy controller can achieve better synchronization precision.Some experiments were done after the completement of the system, and the results show the quality of the system can satisfy the request of laboratorial flume.更多还原