【作者】 严萍；

【导师】 刘国平；

【作者基本信息】 南昌大学 ， 机械电子工程， 2009， 硕士

【摘要】 伺服电机驱动滚珠丝杠进行直线运动的机构已得到广泛的应用,由于摩擦、刚度、惯量和传动间隙等因素的影响,高精度的速度跟踪和位置定位仍是重点研究方向之一。本文在dSPACE半实物平台上,进行PID和模糊控制模型的设计和实验研究,以实现较高精度速度跟踪和定位控制。论文在阅读和分析文献基础上,依据直线运动的技术要求,通过计算确定了丝杆的基本尺寸和标准件的合理选型,对最大轴向负载、挫曲负荷、最大容许转速和额定寿命进行了正确的校核,就滚珠丝杆的定位精度、轴向间隙、支撑方式对直线运动的精度进行了有效的分析,由此设计出一套合理的滚珠丝杆直线运动机械平台。论文根据dSPACE控制卡、伺服驱动器和伺服电机等软硬件的特性,设计了中间接口电路并实现硬件连接,确定了控制模式、输入输出脉冲信号形式和测速方式,并基于ControlDesk软件构建了实验界面,用于观测实验结果和运动速度及误差的数据采集和记录,从而构成了一套半实物直线运动实时控制系统。论文运用MATLAB/Simulink模块,建立了PID控制模型,在dSPACE环境中,就不同比例、积分和微分参数对直线运动平台控制性能的影响,进行了较完整的实验研究。同时,在一组较理想的PID参数前提下,进行了重复精度验证实验和负载实验研究。论文在完成输入输出变量的模糊化、模糊控制规则的制定、模糊推理和解模糊化基础上,建立了恒速直线运动的MATLAB/Simulink模糊控制模型,较完整地完成了Ke、Kec和Ku对直线运动平台速度控制性能影响的实验研究,并较好地完成了重复精度验证实验和负载实验研究。综上所述,论文合理地设计了PID和模糊控制模型,并实现了较好的速度跟踪精度、定位精度和重复精度的控制。更多还原

【Abstract】 The mechanism that servo motor driving ball screw for variable rectilinear motion has been widely used, but due to friction, stiffness, inertia and transmission interval and other factors, the speed of high-precision tracking and location targeting is still one of the principal studies. In this paper, the PID and fuzzy control model based on dSPACE platform was designed and experimentalized in order to achieve high accuracy tracking and positioning control.According to the technical requirements of variable rectilinear motion, reading and analyzing many documents, the article sets the basic screw size and selects the suitable type of standard components, makes checking the maximum axial load, buckling load, maximal permissible revolution and rated life accurately, and analyses and researches efficiently the impact on accuracy of linear motion from ball screw positioning accuracy, positioning accuracy and propping way, then a set of rational ball screw linear mobile platform is designed.According to the hardware and software features of dSPACE control card, servo drive, and servo-actuator, this paper introduces a hardware designing method of intermediate interface circuit, and single chip microcomputer system. Meanwhile the control model, I/O Pulse form and speed measuring mode are selected. An experimental interface is constructed by using platform of Control Desk software to observe experimental data and velocity, to acquire and record inexact data. So a set of semi-physical linear motion real-time control system is established.The article uses Simulink module to build the PID-controlled model.On the bas dSPACE, a more completed investigation on the influence of control performance for linear motion platform from different PID(proportion, integral and differential) parameters is presented. At the same time, under the premise of gaining a group of ideal PID value, precision test of repetitive deploying and load test are executed.After fuzzifying I/O variable force, formatting fuzzy control rules, fuzzy reasoning and defuzzification, the fuzzy control method of constant rate straight line motion is established. A complete experimental study that the influence of Ke, Kec, Ku on the speed control performance of linear motion platform is accomplished. And the test of repetitive deploying and load test is also better fulfilled.In sum, this paper designs the PID and fuzzy control model rightly, and a good control effects on velocity tracking, accuracy positioning and accuracy repeat accuracy is successfully realized.更多还原