【作者】 石文兵；

【导师】 唐小琦；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2007， 硕士

【摘要】 数控机床是发展高新技术产业和尖端工业的基础装备,进给伺服系统是数控机床的重要组成部分,其驱动器控制参数匹配的好坏,关系到数控机床的性能。因此,如何快速有效的进行参数匹配,一直是人们研究的热点。本文以“数控机床进给伺服系统PID(Proportion-Integral-Differential)参数自整定仿真研究”为主题,研究了永磁交流同步电机(Permanent Magnet Synchronous Motor,简称PMSM)的数学模型、矢量控制和磁场定向的基本原理,建立了数控机床进给伺服系统的数学模型和仿真模型;为了解决PID控制器参数自整定问题,本文深入研究了模糊和神经网络这两种智能控制理论,建立了模糊自整定和反向传播(Back-Propagation,简称BP)网络自整定PID控制器,并将其应用于数控机床进给伺服系统的控制仿真,仿真结果表明这两种控制器都能使系统具有很好的性能、很强的鲁棒性和抗干扰性能;由于模糊和神经网络控制器建立的理论不够完善,并且运算复杂、实现困难,本文继而研究了坐标轮换趋优理论,并结合性能指标函数误差绝对值与时间的乘积的积分(Integral of the Product of Error Absolute Value and Time,简称ITAE),设计了坐标轮换法自整定PID控制器,并将其成功地应用于数控机床进给伺服系统的控制仿真,实现了进给伺服系统PID控制器参数的自动整定。仿真结果表明,应用坐标轮换法优化PID控制器的参数,其初始PID参数值可以任意设定,优化后的PID参数均能使系统具有良好的性能。此方法具有很强的理论和应用价值。更多还原

【Abstract】 NC machine tool is an enabling foundational facility for developing high technique and new industries. Feeding servo system is one of the most important parts of NC machine tool. The performance of the tool is related to the match of the parameters of controller used in the servo system. So, how to match the parameters rapidly and effectively is a hotspot that is studied all the time.Regarding the topic "Research and Simulation about Parameter Self-tuning Proportion-Integral-Differential(PID) Controller in Feeding Servo System of NC machine Tool" as a main subject, the mathematical model of permanent magnet synchronous motor(PMSM) and the basic principles of vector control and field-oriented were studied, and then the mathematical model and simulation model of feeding servo system of NC machine tool were set up; In order to solve the problem about the parameters self-tuning of the PID controller, two intelligent control theories, fuzzy control and neural network control, were studied in great depth, then fuzzy-PID controller and Back-Propagation (BP) neural network(NN) PID controller were set up in matlab and used for controlling the feeding servo system of NC machine tool, the simulating results indicated that the two controllers made the system strong in robustness and anti-jamming performance; Nevertheless, the theories on which fuzzy controller and neural network controller are built aren’t perfect enough, their arithmetic are very complex and difficult to achieve, then the optimization of D.A.desopo method was studied in the last of the thesis. With the performance index function, which is the integral of the product of error absolute value and time (ITAE), PID self-tuning controller was designed based on D.A.desopo Method and used for controlling the feeding servo system model of NC machine tool successfully, and realized the parameters of PID controller self-tuning in feeding servo system.The results of simulation indicate that the PID parameters which were optimized by way of D.A.desopo method always make the system have good performance, caring nothing about the initial PID parameters, and the method is of great value in theory and application.更多还原