【作者】 王晓宇；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2015， 硕士

【摘要】 随着科学技术的进步,各领域对小型机器人及小型自动化设备的需求量越来越大,小型化已成为机器人技术的新的发展方向,这就对作为执行机构的微特直流伺服电机提出了更为严格的要求。而在电机研制过程中,电机性能测试是非常重要的一个环节,它为高性能电机的研制提供了可靠的保证。小型直流伺服电机性能测试系统可以全面的测量微特直流伺服电机的各性能参数,准确的完成电机质量的评估。目前的电机性能测试大部分都在测功机上完成,本文介绍了国内外测功机的发展现状,并根据建立的永磁直流电机特性方程,分析了各性能参数对其性能的影响。对各主要参数的测量方法进行研究,明确了各测量方法的原理和实施过程,为本系统测量方法的制定提供了基础。根据测试需求,确定了此测试系统的设计要求,并根据设计要求完成了测试系统加载方式的选择和测试平台的结构设计。提出了保证测试平台安装同轴度的技术要求,并通过有限元分析进行验证。确定了基于QPID数据采集卡的测试系统控制方案,并根据此测试系统的测量范围和精度要求,完成硬件的选型。在Matlab/Simulink环境下应用QuaRC控制软件完成了数据采集和通讯程序的编写。制定了此测试系统应用的各参数测量方法,依此确定各参数测量过程的控制流程和数据处理过程。在Matlab/Simulink环境下应用QuaRC控制软件完成各参数测量控制程序的编写,并应用Matlab/M文件完成数据的处理,通过Matlab/Stateflow实现测量过程的自动控制。对造成测试系统测量误差的因素进行分析,并对测试系统的响应以及部分参数测量误差进行仿真分析。搭建完成整套测试系统,完成各通讯程序的调试。对MAXON—RE30电机进行测量,将测量结果与其提供的参数表进行对比,评估此测试系统的测量准确性。更多还原

【Abstract】 With the progress of science and technology,the demands for micro-robot and small automation equipment are increasing in various fields.Miniaturization has become a new development trend of robotics,which raises higher and higher demands for micro special DC servo motors as the executive mechanism.And in the process of motor development,motor performance testing is a very important link,which provides reliable guarantee for the development of high performance motor.The performance test system for small DC servo motor can measure the parameters of micro special DC servo motor fully and complete the assessment of motor quality accurately.Current motor performance testing is usually completed by the dynamometer.The thesis introduces domestic and foreign development status of dynamometer and analyzes the effects of various performance parameters according to the established characteristic equation of permanent magnet DC motor.The measurement methods of each main parameter are studied to understand its principle and implementation process.This provides the basis for establishing measurement methods of this system.The design requirements of this test system are determined according to the test requirements.Then the loading mode selection of the testing system and the structure design of the testing platform are completed according to the design requirements.The technical requirements to ensure the installation coaxiality of the test platform are put forward,and they are verified by finite element analysis.The control scheme based on the QPID data acquisition card is determined,and the hardware is selected according to the measurement range and precision requirement of this test system.This paper also writes the data acquisition and communication program with the QuaRC control software in the Matlab/Simulink environment.The measurement methods are established according to which the control flow and data processing flow of each parameter measurement process are determined.The control program of each parameter measurement is written with the QuaRC control software in Matlab/Simulink,and the data processing is completed with Matlab/M file,then the automatic control of measurement process is realized with Matlab/Stateflow.This paper also analyzes the factors that cause measurement error to the test system.Then based on thesimulation analysis,the response and measurement error of the test system are researched.This set of test system is completed and the communication program is debugged.Then the MAXON-RE30 motor is tested and the measurement results are compared with its parameter list to assess the measurement accuracy of this test system.更多还原