【作者】 王丹；

【导师】 周悦； 片锦香；

【作者基本信息】 沈阳建筑大学 ， 系统工程， 2016， 硕士

【摘要】 高精度的精密微位移系统在近代尖端工业生产和科学研究领域内占有极其重要的地位。它广泛应用于航空航天、微型机械制造、超精密加工、医学、生物工程等领域。纳米级位移定位技术已经成为推动科技发展的前进力量,在纳米位置控制系统中控制器的设计已成为其研究重点,选择适当的控制策略能够解决压电陶瓷驱动器迟滞性、蠕变性和非线性对系统带来的影响,提高定位精确性。本文针对微位移控制系统定位不准确、定位精度不高,进行了蜂群PID控制算法设计仿真和实验研究。论文的主要工作如下:(1)介绍了微位移平台控制系统开发的意义及其应用领域;介绍了国内外微位移控制系统及控制方法的研究和应用现状,说明我国针对微位移控制器设计的研究还处于发展阶段。(2)对微位移平台的整体结构进行分析。首先,从硬件方面介绍了微位移控制系统的整体结构构成。其次,对平台控制系统进行设计。最后,对微位移平台的通信机制进行分析,针对控制系统USB通信部分,采用DSP、CPLD与USB相结合的方式进行控制信号的传输和通信。(3)介绍了传统PID控制器的基本算法,包括位置式PID控制算法、增量式PID控制算法,并对该控制系统的性能指标进行了分析,介绍了多种PID控制器的参数整定方法,指出PID控制的核心在于控制参数的整定。详细论述了人工蜂群算法的基本原理、特性,提出了基于人工蜂群算法的PID控制方法。(4)对所设计的蜂群PID算法在微位移控制平台中进行实验研究。首先,基于MATLAB对人工蜂群算法寻优性能进行测试。其次,对传统PID、自适应PID和蜂群PID的阶跃响应进行对比。最后,在微位移平台上实现蜂群PID控制器。结果表明,蜂群PID控制器可使微位移稳态误差达到纳米级,满足微位移定位系统的控制精度要求,可实现高精密位置控制。综上所述,本文主要对微位移控制系统的控制器算法进行了研究,实验结果表明了所提算法的可行性,有效保证了系统的定位精度。微位移控制系统的控制器设计的提出,对相关类似系统的控制器算法设计具有一定的借鉴价值。更多还原

【Abstract】 Precision micro-displacement system occupies an extremely important position in the field of modern sophisticated industrial production and scientific research. It is widely used in the field of aerospace, micro mechanical manufacturing, ultra precision machining, medical, bio engineering etc. Nano displacement positioning technology has become an advancing force to promote technological development. The design of controller has become the focus of their research in the nano positioning control system. The appropriate control strategy is selected to solve the influence which piezoelectric actuator hysteresis, creep and nonlinear brings on the system, then to improve the positioning accuracy. Because the micro displacement control system is not accurate to position or positioning accuracy is not high, so colony PID control algorithm is designed to simulation and study in the paper. The main work is as follows:(1) The meaning and application fields of micro displacement platform control system are described, then the research and application of micro displacement control system and control method are introduced, which show that the study in designing micro displacement controller is still in the development stage in china.(2) The overall structure of micro-displacement platform is analysed. First, the overall structure of the micro displacement control system is introduced from the hardware configuration. Secondly, the control system of platform is designed. Finally, the communication mechanisms of micro displacement platform is analysed. The way that combine DSP, CPLD with USB can be used to control signals to transport and communicate for USB communication part of control systems.(3) The basic algorithm of the traditional PID controller is introduced, including the location of PID control algorithm and incremental PID control algorithm. And the performance index of the control system is analyzed, a variety of parameter setting methods of PID controller are introduced and the theory that the setting parameters are the key of PID control is pointed out.Principle and characteristics of artificial bee colony algorithm are described in detail and PID control method is proposed based on artificial bee colony algorithm.(4) Experimental study the designed bee colony PID algorithm in the micro-displacement control platform. First, optimization performance testing of artificial bee colony algorithm based on MATLAB. Secondly, the traditional PID, adaptive PID and bee colony PID step response are compared. Finally, the bee colony PID controller is realized in the micro-displacement platform.The results show that the bee colony PID controller can make the steady error of the micro displacement reach the nano meter level and satisfy the requirement of micro-displacement control precision of the positioning system and the high-precision position control can be achieved.In summary, the control algorithm of the micro-displacement control system are studied in this paper. The experimental results show the feasibility of the proposed algorithm and ensure the positioning accuracy of the system effectively. The controller design of micro-displacement control system is proposed, which has a certain reference value for relevant control algorithm of similar system design.更多还原