基于无刷电机的工业缝纫机伺服系统研制

【作者】 赫晓明；

【导师】 唐永哲；

【作者基本信息】 西北工业大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 随着缝制业的不断发展，目前缝制机械技术已经全面进入机电一体化阶段。在不断追求缝制速度和缝制质量的前提下，结合实际情况研制了高速工业平缝机伺服控制系统。 本论文研究了高速工业缝纫机伺服控制系统的组成结构、控制方案和系统的硬软件设计等问题。在详细分析工业缝纫机的工作原理和伺服技术的基础上，提出了速度、电流和位置三闭环控制的方案。采用无刷直流电机作为系统的驱动部件，并详细介绍了无刷电机的组成原理和控制方法，利用MATLAB对无刷电机的控制系统进行了详细的仿真分析。论文还对控制律进行了讨论、分析、并接合实际情况，选用了分段双环的PI算法和迭代学习控制技术。对系统制动问题进行了重点讨论，提出能耗制动和反接制动相结合的方法。 硬件部分选用80C196MC单片机为核心控制器，利用单片机内部的波形发生器产生一路占空比可调的PWM波来控制电机的电压，采用硬件电路对无刷电机的换相进行控制，再加上由栅极驱动芯片IR21365为核心的功率驱动部分，以及实用的隔离抗干扰技术，从而实现了一套简单、可靠、高效的伺服系统硬件电路设计。 软件部分的设计主要采用C语言和汇编语言，利用模块化设计方法，设计了系统主程序、调速和电流控制、键盘和显示、制动以及各缝纫模式等程序模块。论文最后对系统的运行情况进行了测试。更多还原

【Abstract】 With the development of needle trade continuously, the technology of industry sartorius has entered the machine united electricity stage at present. Under the situation of pursuing sew speed and quality; have developed the high-speed industry sartorius servo control system, with a view of reality.The dissertation has studied the problems of structure, control strategy, hardware and software design, about the high-speed industry sartorius servo control system. On the basis of detailed analyzing the principle of industry sartorius and servo control technology, control project of three closed loop which include velocity, current and position closed loop is designed. Brushless direct current motor is used for the servomotor, and particular introduced its structure principle and control method, detailed modeling is made by MATLAB. The subsection reformative PI control arithmetic and interactive learning control are most applicable of many possible choices after exhaustive discussion, investigation, simulation and comparison. The theory of system braking is mainly analyzed, braking and orientation problem is solved by the combined energy consumption breaking and plug braking.The hardware has MCU 80C196MC as the nucleus controller of system. The wave form generator in MCU generates a PWM wave whose pulse duty factor is adjustable,, the voltage of the motor is control by PWM wave . The phase commutation of Brushless DC motor is controlled by hardware. Power MOSFET and gate driver IC IR21365 composes the power drive circuit. In addition to some anti-interference technique is applied; a suit of single, trustworthy and high efficiency servo system hardware circuit is come in being.The module design method is adopted, the system soft ware is divided into many modules, such as system main program, velocity and current subprogram, keyboard and display subprogram, breaking and sew mode subprogram etc. The operation of the system is tested finally.更多还原