超精研加工交流伺服系统设计

【作者】 张龙；

【导师】 王雪文；

【作者基本信息】 西北大学 ， 微电子学与固体电子学， 2012， 硕士

【摘要】 交流伺服技术目前已经广泛应用于像机械加工、航空航天控制、机器人控制等工业控制领域。随着科技的不断向前发展,各个领域对交流伺服控制技术也有着越来越高的要求,因此,对高精度、高可靠性的交流伺服技术的设计研究具有非常深远的理论与实际意义。本文以永磁交流同步电机(PMSM)为控制对象,设计开发一款高性能的交流伺服控制系统,以满足机械加工中超精研加工工艺的需要。在深入分析了PMSM的数学理论模型后,选择了矢量控制策略,并采用id=0控制方法实现对电机的解耦控制。文中进一步阐述了电机空间矢量调制技术(SVPWM)的原理及其数字化的实现方法,采用Infineon公司的16位微处理器XC164CM作为核心控制单元,设计了电源电路、功率驱动电路、电流检测电路、编码器反馈信号处理电路以及串口通信电平转换等硬件电路。用C语言完成了系统的软件设计,包括SVPWM的实现程序,转子位置计算程序以及位置、速度、电流、摆动PID算法等程序,实现了主回路的闭环控制。另外,本系统设计了人机交互界面,可以在PC机中非常方便地实现对电机的参数进行控制。最后对整体系统进行上电测试,实验测试结果表明：系统可以平稳运行,并具有良好的起动制动性能,同时系统可以按照人机界面中所设置的指定控制参数进行正常运转运行和摆动运行,且具有较高的控制精度。更多还原

【Abstract】 Ac servo technology has been widely applied in industrial control field such as machinework, aerospace control, robot control and so on. With the developing of the science and technology, we need more excellent Ac servo technology to adapt it for the various industrial control fields. Therefore, it is necessary to research and develop Ac servo control system with high accuracy and high reliability.In order to meet the requirement of superfinishing machine, this paper designs a kind of high-performance Ac servo control system of permanent magnet synchronous motor (PMSM). After analyzing the mathematical theory model of PMSM, a kind of vector control method of id=0is selected. Meanwhile, Space Vector Pulse Width Modulation (SVPWM) technology is adopted to design the system. The XC164CM of Infineon is applied as the core unit of the hardware system. The hardware circuits of the system is designed, including power drive module, current detecting module, encoder signal processing module etc. The software system is developed with C language, including the realization of SVPWM, the calculation of the rotor position and speed, the arithmetic of position PID (Proportion Integration Differentiation), speed PID, current PID and swing PID, which has realized the closed-loop control of the main loop. In addition, the Graphical User Interface (GUI) is designed in this system, thus, it is very convenient to control the parameters of the motor with the PC.Finally, after testing the whole system, the experimental results show that the system can run smoothly, start fast, and brake quickly. Furthermore, we can control the parameters successfully in the GUI and the control accuracy is very high.更多还原