【作者】 马长军；

【导师】 梁维燕； 邹继斌；

【作者基本信息】 哈尔滨工业大学 ， 电气工程， 2007， 硕士

【摘要】 电动伺服系统体积小、响应速度快、可靠性高,成为未来伺服系统发展的必然趋势。无刷直流电机具有良好的动态性能和控制性能,适合作为执行电机应用于舵机伺服系统。本文研究了基于无刷直流电机的快速响应电动伺服系统。本文首先分析了电动伺服系统的结构,提出了电动伺服系统的总体方案。根据电动伺服系统的性能要求,对比了不同类型电机的结构与性能,选择无刷直流电机作为伺服系统的执行电机。建立了无刷直流电机的精确数学模型,作为系统仿真和控制的基础。同样分析了伺服系统控制器的硬件和软件系统方案。为了提高系统可靠性,给出了系统自检测方案。其次,详细设计了伺服控制系统软硬件结构。以TI公司DSP芯片TMS320LF2407A作为为处理器,设计了控制系统。采用IR2130芯片设计了可靠的MOSFET驱动电路,自举技术的应用使驱动性能更加可靠。同时设计了可靠的检测电路和通信接口电路。特别对硬件结构的电磁兼容性能进行了分析,并列出了应注意的问题。设计实现了电机的位置、转速、电流三闭环控制系统,并且分析和设计了制动程序、转速测量程序和系统上电自检测程序。再次,分析了舵机系统的负载特性,负载特性决定了系统结构与控制。在此基础上,分析了电动伺服系统的动态性能。重点比较与分析了电机本体、控制回路结构对伺服系统性能的影响。最后,对设计的电动伺服系统进行了实验和相关调试工作。测试了无刷直流电机的时间常数,霍尔传感器速度测量信号,并通过调试得到了系统内环参数。在此基础上,设计位置调节器参数,测试了位置伺服系统的闭环性能,验证了系统的合理性。更多还原

【Abstract】 The electric servo system becomes the tendency of servo system for its compactness, fast response and reliability. Brushless DC motor (BLDC) is suitable to be execution motor in actuator servo system for its excellent dynamic and control nature. The fast-response electric servo system based on BLDC was studied in this paper.Firstly, overall planning of electric servo system was presented on the basis of analyzing the whole system. BLDC was chosen as execution motor for its meeting the necessity of the system nature in comparison with other kinds of motor. Accurate mathematic model was established for system emulation and control. Hardware and software program were also analyzed. Self-detection scheme was adopted to improve the reliability of the system.Secondly, software and hardware conformations of the system were designed. Servo system was established with TMS320LF2407A as the processor. IR2130 chip was chosen as the core of driven circuit,and bootstrap circuit was adopted to guarantee the credibility. Detection and interface circuit was added. Electromagnetism compatible problem was analyzed in hardware conformations.Thirdly, load characteristic was analyzed which decides the conformations and control strategy of the system. The dynamic nature of the system was analyzed, and the influence of motor itself and speed sensor were compared.Finally, the servo system was tested and debugged. The speed signal was analyzed, time constant and regulator parameter were achieved which verified the system validity.更多还原