【作者】 常兴卫；

【导师】 许立忠；

【作者基本信息】 燕山大学 ， 机械设计及理论， 2008， 硕士

【摘要】 机电集成静电谐波微型传动系统是一种微型广义复合传动系统,利用柔轮的波动变形实现运动传递和运动转换。控制系统是机电集成静电谐波传动系统的重要组成部分,控制着该传动系统的启动、停机、调速和定位等功能。和传统的传动系统相比,机电集成静电谐波传动更依赖于控制系统,因为该微型传动要求更精确的位置定位和更快的速度响应。因此,控制理论和控制方法的研究对机电集成静电谐波传动的设计、分析和性能控制具有重要的现实意义和应用价值。本文深入研究了机电集成静电谐波传动系统的工作原理,在此基础上建立了机电集成静电谐波传动系统的动力学模型,得出了传动系统的开环控制模型。建立了机电集成静电谐波传动系统的PID控制理论,在经典PID控制系统参数设计的基础上,以单纯形法为手段进行了PID控制参数的二次寻优,并运用Matlab/Simulink软件比较了寻优前后的系统控制性能。计算了机电集成静电谐波传动系统在单相单极和三相单极两种驱动系统下柔轮产生的力矩,比较了两种驱动系统下的力矩特性,讨论了控制系统对力矩波动的电压补偿控制。介绍了以非线性跟踪—微分器和非线性PID为基本单元组成的非线性PID调节器的基本原理,研究了机电集成静电谐波传动的非线性控制,并进行了Matlab/Simulink仿真验证,结果表明,采用非线性PID控制系统后,可以有效改善系统的静态和暂态稳定性、提高控制系统的鲁棒性,取得良好的控制效果。更多还原

【Abstract】 Electromechanical integrated electrostatic harmonic drive system is a sort of micro generalized compound drive system. The harmonic deformation of flexible ring leads to the transfer and transform of motion. As an important component of the drive, the control system dominates the starting, stop, speed regulation, precision positioning, and so on. Compared to the traditional drive system, electromechanical integrated electrostatic harmonic drive is more dependent on control system in that more precision positioning and speed response are required. Therefore, the investigation of the control method and control theory for the drive is useful to the design, analysis and performance control.In this paper, operating principle of the electromechanical integrated electrostatic harmonic micro drive system is studied. Then, dynamic equations for the drive system are established and the open-loop control model of drive system is presented accordingly.PID control theory for electromechanical integrated electrostatic harmonic drive is presented. On the basis of classical PID control system designing, parameters of PID control system are optimized by the simplex method. Using Matlab/Simulink,performance comparison is completed for the system before and after optimization.The torques applied to the flexible ring are calculated for single phase and single pole pair electric field and three phase and single pole pair electric field, respectively. The torque characteristics are compared for the two drive modes. The voltage compensation control is discussed for torque fluctuations.The basic principle of nonlinear PID regulator made up of nonlinear tracking-differentiator and nonlinear PID is analyzed and applied in the control system of electromechanical integrated electrostatic harmonic micro drive. The Matlab/Simulink simulation results show that it can improve the static and transient stability effectively and increase the robustness of the control system, the good performance is obtained.更多还原