【作者】 顾焕涛；

【导师】 王国锋； 王太勇；

【作者基本信息】 天津大学 ， 机械制造及其自动化， 2009， 硕士

【摘要】 高速高精度位置控制是现代制造工业的重要研究之一,对提高生产效率和产品质量具有十分重要的作用。要实现高性能控制,高性能的控制器设计是关键技术之一。新一代微控制器的进步,使嵌入式处理器更加适合数控领域的开发。鉴于DSP高速运算能力与高效控制能力,使其对电机进行位置控制成为当今控制领域研究的热点之一。传统PID控制由于结构本身以及算法设计依赖对象的局限性,对复杂的动态过程控制不够理想。传统PID控制和智能控制的结合研究成为了解决这一问题的有效途径。本课题的研究是TDNC-SX开放式数控系统开发中的一部分,文中首先基于TDNC-SX数控系统的设计理念:嵌入式、模块化、可移植、开放式、网络化,简要介绍了基于ARM和DSP的嵌入式数控系统的总体结构。其次,对传统PID控制、模糊PID控制、前馈控制等控制算法作了深入的分析和研究。基于理论分析,研究设计了前馈控制+模糊PID控制的组合控制器,并借助MATLAB/SIMULINK进行了仿真和分析,得到了较理想的控制效果。再次,研究设计了位置控制卡的软件结构,并详细给出了驱动程序和控制算法程序的编写流程。为保证信号的正确输入,还给出了输入信号的滤波算法。最后,作为软件和控制算法的载体,设计了一款基于DSP的位置控制卡。文中详细给出了位置控制卡的硬件结构设计,以及各部分硬件电路设计。同时,还对在硬件电路设计中的电磁兼容性问题进行了考虑。论文结尾对本文研究内容进行了总结和展望。更多还原

【Abstract】 High-speed high accuracy position control is recognized as one of the most important areas in modern manufacturing industry, which is playing an important role in increasing the productivity and quality of manufacturing.To achieve high performance control, high-performance controller design is one of the key technologies. A new generation of micro-controller has great progress in every performance, so that embedded processor is more suitable to development of NC. With high-speed computing power and efficient control, DSP to carry out position control of motor control research in the field has become one of the hot. Traditional PID control of complex dynamic process control is not ideal because of the limitations of the structure itself and the design of object-dependent.The study of the combination of Traditional PID control and intelligent control has become an effective way to resove this issue.Firstly, the subject is studied as part of the development of TDNC-SX open-CNC system.The paper has developed the following design concept of TDNC-SX CNC system: embedded, modular, portable, open, network-based.And the overall structure of ARM-based and DSP-based embedded CNC system are briefly introduced.Secondly, the analysis and research of traditional PID control, fuzzy PID control, feed-forward control have been developed deeply. Based on theoretical analysis, the combination controller of feed-forward control and fuzzy PID control are designed. And the paper uses MATLAB / SIMULINK for simulation and has ideal control.Thirdly, the paper designs the software structure of the position control card, and gives in detail the process preparation of the driver and the control algorithm. In order to ensure the correct input signal, the input signal filtering algorithm is given.Finally, a DSP-based position control card has been designed as a vector control technology. This paper gives the design of the hardware structure and the hardware circuit of the position control card.Addionally the issue of electromagnetic compatibility in the hardware circuit design is considered.The contents of this paper is summarized and prospects at the end of this paper.更多还原