【作者】 刘峙飞；

【导师】 王树青；

【作者基本信息】 浙江大学 ， 控制理论与控制工程， 2005， 博士

【摘要】 永磁交流伺服系统广泛应用于消费品市场和工业现场中,而对于如家电、工业缝纫机等成本要求较高的产品,迫切需要开发高性能价格比的伺服系统。 论文针对小惯量永磁同步电机,利用简易低分辨率光电编码器,提出一种无电流传感器空间电压矢量控制,即直接利用电压矢量进行控制,并对电压矢量进行角度补偿。由于省略了电流环,使整个控制系统硬软件结构更加简洁,可一定程度上节约材料成本。系统采用PFC-PID串级控制策略,速度环采用PID控制以提高抗干扰性,而位置环则采用预测函数控制来获得良好的跟踪性能和强鲁棒性。同时,对单变量预测函数控制进行了结构分析和稳定性分析,并进一步分析了多变量受约束预测函数控制的稳定性问题。 为增强伺服系统的适用性,设计了一个简单的实时操作系统MotionOS,将速度和位置伺服功能整合其中,采用抢占式静态任务调度方式,可广泛应用到各种缝制设备和纺织机械中,大为提高开发效率。 针对高速工业平缝机,基于MotionOS设计了一套工业平缝机伺服控制系统,具有快速响应、定位精确的特点,可实现自动上下停针位、自动切线、自动倒缝、自动定针缝等功能,并提供针迹补偿等几十个可调参数以提高控制器的性能和灵活性。同时设计脚踏板调速器实现调速功能,并设计基于磁性传感器的机头定位器实现上下停针功能。缝制花样和参数由操作面板进行设置,并通过串行通信接口下载到主控板上。控制系统预留CAN网络接口以实现远程网络控制。 控制系统选用TI公司的TMS320F2407A DSP作为主控芯片,三菱PM20CSJ060 IPM作为功率驱动模块,硬件设计精密灵活,电路具备很强的抗干扰能力,并采用多种隔离和屏蔽措施以提高EMC性能。系统测试和服装厂小批量试用结果表明整套控制系统完全满足工业平缝机的缝制需要,有较高的性能价格比,具备良好的市场前景。更多还原

【Abstract】 Ac servo drives employing permanent magnet synchronous motors are being used for various purposes in consumer products and industry applications. Although their technical advantages are generally acknowledged, researchers are becoming aware of their cost and are exploring the possibility of cost reduction. Especially for industrial sewing machines, a servo control system with low cost but high performance is needed.A current sensorless space voltage vector control algorithm is presented to the control of permanent magnet synchronous motors using simple low-resolution photoelectric encoder. This method directly control voltage vector and compensate the difference between voltage vector and current vector. The hardware and software are simplified without current sensors and cost is reduced.A cascaded control structure is presented for the sevo control system. PID controller is used to control the motor speed to improve interference immunity. Predictive functional control (PFC) is use to control the position to obtain good tracking performance and high robustness. Stability analysis of univariable and multivariable constrained PFC is fulfilled.A simple real-time operation system - MotionOS is designed to improve adaptablity of the servo control system. Speed and postion servo functions are integrated into it and preemptive static task schedule is used. MotionOS can be applied to many applications such as sewing and textile machinery to improve development effiency.Servo control system for industrial lockstitch sewing machine is developed based on MotionOS. It provides fast response and sufficient precision control of speed and position. Automatic functions such as needle positioning, automatic trimmer and wiper, backtacking, constant-stitch sewing are fulfilled. Dozens of tunable parameters are provided to improve flexibility. Pedal sensor is designed for speed adjustment and synchronizer using magnetic sensors is designed for needle positioning. An operatation panel is also designed to set sewing pattern and these sewing parameters are downloaded to master control board. And CAN interface is preserved for remote network control.TMS320F2407A digital signal processor (DSP) is selected as the CPU of the whole system and PM20CS060 intelligent power module (IPM) is selected for power drive. Hardware design is precise and flexible. Circuits have strong ability of noise resistance. Some isolation and shield methods are used to improve performance of electro magnetic compatibility (EMC). Results of system test and plant probation show that the whole control system has good performance with lower cost and hasbright market prospect.更多还原