【作者】 王群；

【导师】 陈静；

【作者基本信息】 武汉理工大学 ， 电机与电器， 2020， 硕士

【摘要】 注塑机发展的主要方向是高效精密和节能环保,要求其伺服驱动器具有更高的稳定性和精确性。一般注塑机采用的合模驱动系统存在参数时变、扰动大、控制精度差等问题,不适应一体化立式注塑机的合模驱动性能要求。为此,本文在广东省中山市重大科技专项“高性能一体化立式注塑机研制及产业化(2017A1031)”的资助下,根据合模工艺对合模伺服驱动器的稳定性和精确性要求,研究并设计了一体化注塑机合模伺服驱动器。本文主要研究工作和取得的结果如下:(1)以一体化立式注塑机的合模工艺作为研究对象,通过分析一体化注塑机注塑成型工艺及其合模驱动系统,给出了一体化注塑机合模伺服驱动器的设计要求;选择STGIPN20H60三相全桥IPM为功率元件,构建了一体化注塑机合模伺服驱动器的拓扑结构;完成了主要元器件的选型,提出了一体化注塑机合模伺服驱动器的控制系统硬件设计方案、控制算法研究方案和控制系统软件设计方案。(2)根据合模伺服驱动器的硬件设计方案,选择DSP F28335作为主控制器,完成了合模伺服驱动器的控制系统硬件设计,包括主功率IPM驱动电路、主控制器的最小系统电路、信号检测电路、其他电路的设计。其中,信号检测电路包括电流与电压检测、位置与转速检测、压力检测、故障检测与保护;其他电路包括光电隔离电路、通信接口电路、电源电路。(3)根据一体化注塑机合模伺服驱动器的控制算法研究方案,完成了合模伺服驱动器的矢量控制算法研究。在分析PMSM坐标变换及其数学模型的基础上,推导两相旋转坐标系下的数学模型;采用交流伺服驱动技术,给出了合模伺服驱动器的矢量控制原理,采用滑模变结构控制方法设计了滑模速度控制器,推导出电流环、速度环及位置环的传递函数。使用Matlab/Simulink 2016a仿真工具,构建了合模伺服驱动器矢量控制仿真模型,并完成了合模伺服驱动器的性能仿真研究。通过仿真验证了本文理论研究结果及其合模伺服驱动器矢量控制系统的有效性。(4)根据一体化注塑机合模伺服驱动器的软件设计方案,采用中断方式,使用模块化的方法,完成了合模伺服驱动器的控制系统软件设计。系统的主程序处于不断循环的运行状态,DSP调用相应的程序完成指定的功能,当有外部命令请求时,跳转并执行中断服务程序,从而快速精准的实现“PMSM速度与转矩的精确控制,压力流量的计算,故障检测与保护,与上位机实现通信”等功能。(5)利用本文理论结果,构建了合模伺服驱动器试验平台,完成了空载启停和空载加减速试验。速度状态调整时间都在45ms以内,超调量小于10%。综上所述,本文研究并设计了一体化注塑机合模伺服驱动器,仿真研究与试验结果表明:本文设计的合模伺服驱动器具有良好的动静态性能、稳定性和鲁棒性,满足了合模工艺中的稳定性和精确性要求。研究结果为实现合模工艺的高效精密注塑具有一定的理论意义和工程使用价值。更多还原

【Abstract】 High efficiency,high precision,energy conservation and environmental protection is the main developmental orientation of injection molding machine,whose servo driver is required to be stable and accurate.The mold closing driving system of general injection molding machine is not suitable for the mold closing driver’s performance requirements of the integrated vertical injection molding machine with its disadvantages of parameter time variable character,large disturbance and poor control accuracy existing in the mold closing driving system of general injection molding machine.This thesis is partially supported by the projects of Zhongshan’s major science and technology special project entitled “Development and Industrialization of High Performance Integrated Vertical Injection Molding Machine(2017A1031)”.In this thesis,the research on the mold closing servo driver for the integrated injection molding machine and its design are carried out based on the requirements of stability and accuracy for the mold closing servo driver during mold closing process.The main work and research results this thesis are as follows:(1)By taking the mold closing process of the integrated vertical injection molding machine as the research object,the design requirements of the mold closing servo driver for the integrated injection molding machine are given by analyzing the injection molding process and the mold closing driving system of the integrated injection molding machine.Three-phase full-bridge IPM STGIPN20H60 is selected as the power element to construct the topology of the servo driver of the integrated injection molding machine.The selection of main components is completed,and the control system hardware design scheme,control algorithm research scheme and control system software design scheme are proposed.(2)DSP F28335 is selected as the main controller to complete the hardware design of the control system of the mode closing servo driver based on the hardware design scheme of the mode closing servo driver,including the main power IPM drive circuit,the minimum system circuit of the master controller,the signal detection circuit,and other circuits.Among them,the signal detection circuit includes current and voltage detection,position and speed detection,pressure detection,fault detection and protection.Other circuits include photoelectric isolation circuit,communication interface circuit,power supply circuit.(3)With control algorithm research scheme,the vector control algorithm of the mold closing servo driver is studied.Based on the analysis of PMSM coordinate transformation and its mathematical model,the mathematical model in two-phase rotating coordinate system is derived.Next,the vector control principle of the mold closing servo driver is given by using AC servo driving technology.Then the sliding mode speed controller is designed using the sliding mode variable structure control method,and the transfer functions of current loop,speed loop and position loop are derived.Furthermore,the vector control simulation model of the mold closing servo driver is constructed by using simulation tool Matlab / Simulink 2016 a,and the study on simulation performance of the mold closing servo driver is completed.The simulation results verify the theoretical studies on this thesis and the effectiveness of the mold closing servo driver’s vector control system.(4)According to the software design scheme of the control system for the mold closing servo driver of the integrated injection molding machine,the design of software system is completed by means of interruption and modularization.The main program of the system is at the running state of continuous circulation.And the corresponding program is called by DSP to complete the specified function.When there is an external command request,the interrupt service routine is executed,so as to quickly and accurately realize the functions of "precise control of PMSM speed and torque,calculation of pressure and flow,fault detection and protection,and communication with the host computer".(5)Based on the theoretical results of this thesis,the test platform of mold closing servo driver is constructed to complete the no-load start-stop and acceleration-deceleration test.The adjustment time of speed state is within 45 ms and the overshoot is less than 10%.To sum up,the mold closing servo driver of the integrated injection molding machine is studied and designed in this thesis.The simulation research and experimental results show that the mold closing servo driver designed has good staticdynamic performance,stability as well as robustness,which meets the stability and accuracy requirements in the mold closing process.The research results have theoretical significance and engineering application value for the realization of efficient and precise injection molding in the mold closing process.更多还原