【作者】 刘波；

【导师】 张丹红；

【作者基本信息】 武汉理工大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 近年来随着传动系统的迅速发展,多电机传动已被越来越广泛地应用于各种领域,为了提高多电机传动系统的性能,以及满足一些特定系统对于多电机精确同步的要求,多电机同步控制的研究越来越受到人们的关注。本文以某玻璃制瓶生产线为研究背景,根据其制瓶工艺要求研究基于变频器和永磁同步电机调速的多电机同步控制系统。所设计的多电机同步控制系统由上位机、同步控制器和变频器等组成,多电机之间以统一的基准信号作为参考,各路电机以一定的相位差独立地实时跟踪基准信号,实现相位和速度同步。同步控制器通过CAN总线和上位机及电子配时控制器通讯。由接近开关检测同步电机的位置信号,微控制器将反馈回来的位置信号进行滤波处理后,采用定点优化PID算法计算出运行频率,然后通过RS-485总线以数字通讯的方式发送给变频器,改变电机的运行速度,从而使多电机之间保持协调运行,达到同步控制的目标。此系统具有较好的快速响应性能和较强的稳定特性,控制精度为1度,确保了玻璃制瓶机中电机驱动机构的有效同步。论文对某制瓶工艺流程和要求进行深入了的分析,讨论了同步控制的必要性,在此基础之上,明确了控制目标,确定了同步控制系统的总体设计方案;然后设计了以PIC单片机为核心的主要硬件电路,分析了主要电路的功能;根据前后台模块化编程的设计思想,结合同步控制系统的主要功能,设计了系统软件,给出了软件设计思想和主要程序流程图;最后建立了控制系统近似模型,对该系统进行了仿真研究。提出了一种由同步控制器检测脉冲跳变沿并向机控板分发同步脉冲的工程应用方法。该方法取代了由机控板直接检测接近开关信号的传统方法,有效的减少了在调速过程中接近开关位置信号不规则而造成的多脉冲或丢脉冲现象,提高了系统的抗干扰能力和稳定性。所设计的同步控制系统已在多家制瓶厂投入运行,运行稳定。更多还原

【Abstract】 Multi-motor Synchronization Control System has been widely used in various fields in recent years, for the rapid development of transmission system. In order to improve the performance of multi-motor synchronization control system, as well as to meet some specific accuracy requirements, the research of multi-motor synchronization control system has attracted extensive attention. This paper takes a automatic bottle making system as research background, and a kind of multi-motor synchronization control system based on permanent magnet synchronous motor and frequency converter has been designed according to the production line process and its function.The multi-motor synchronization control system designed is mainly composed of PC, synchronization controller and inverter. The synchronization controller generates a common reference signal independently tracked by each motor with certain setting time differences.The synchronization controller communicates with PC and electronic timing system by using CAN bus. The serial data frames are sent to the inverter to change the motors’ speed through RS-485 bus, when the microcontroller calculates the expected frequency value by fixed-point optimal PID algorithm, after filtering out the interference ,which is mixed in the position signal detected by proximity switch. The operation practice proves that the system, whose precision is less than one degree, has a good rapid response and stable characteristics. The system well achieves the goal of synchronization control. The motors are able to orderly cooperate with each other for automatic production.Firstly, the thesis designs the general design plan of synchronization control system for certain I.S. forming machine on the basis of analyzing requirement and process of I.S. forming machine as well as discussing the necessity of synchronization control. Secondly, the design of hardware circuit, which is around the PIC microcontroller, is discussed. Thirdly, the software of synchronous control system is designed according to the thought of foreground/background modular programming. The main thought and block diagram of the program are provided. Finally, MATLAB is used to simulate the operation of control system, since the approximate model is established.A Kind of engineering application method to detect the jump of synchronous signal, which is delivered by synchronization controller, is proposed. This method, instead of the traditional one, is effective in reducing the possibility of adding or losing position pulse, because the position signal is irregular in speed regulation. Both the anti-interference ability and stability of the system are improved. The synchronization control system we designed has been put into practice in several companies and operates steadily.更多还原