一种多电机驱动转台的仿真平台设计和控制方法研究

【作者】 周静；

【导师】 陈庆伟；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 多电机驱动方式已经成为现今伺服系统研究和发展的重要方向之一。针对多电机驱动系统中的同步控制问题,目前的主要研究方法有理论研究、动力学简化建模分析、系统仿真等。本文以计算机建模和虚拟样机技术为基础,应用联合仿真的方法进行多电机同步控制研究,提供了一种新的研究途径。文中首先应用三维建模软件Pro/Engineer,在进行适当的简化后,完成了三维实体模型的建立,研究了将CAD模型通过Parasolid文件格式导出的方法。将模型导入到ADAMS软件后,对其施加约束、力等关系,建立了虚拟样机模型。对虚拟样机模型进行了动力学仿真,详细分析仿真结果,说明了虚拟样机模型的正确性,为控制策略的研究等后续工作奠定了基础。其次,应用ADAMS和MATLAB协同仿真的原理和方法,在虚拟样机模型中,定义联合仿真需要的的输入输出变量,并通过ADAMS/Controls模块导出了虚拟样机模型,生成simulink中的模块adams_sub。设计了联合仿真的总体框图,对控制部分中的各个调节器进行了详细的设计,并确定了同步控制策略。最后,搭建联合仿真的Simulink框图,构建了多电机驱动转台的联合仿真系统。完成了系统位置闭环的仿真,得到不同输入下系统的响应曲线、不同负载下系统的响应曲线、特殊情况下系统的响应曲线,对实际系统调试有指导意义。最后给出了实际系统的调试结果,验证了所设计的控制策略的有效性。更多还原

【Abstract】 Multi-motor drive has become an important direction for the research and development of server system nowadays, In the matter of multi-motor synchronous control, the main research methods include theoretical study, dynamic modeling analysis and system simulation. This paper applied computer modeling and virtual prototype to study multi-motor synchronous control providing a new research approach.Firstly on the basis of simplifying, the paper completed the three-dimension solid modeling using the software Pro/Engineer and studied the method of exporting CAD model to ADAMS in Parasolid format. Then the model was imposed constraints and forces to create a virtual prototype model in ADAMS for dynamics simulation. The analysis of the simulation results showed the correctness of the virtual prototype model. It could be used in the work of following control strategy study.Secondly, the paper introduced the principle and method of co-simulation of ADAMS and MATLAB. It described how to generate a Simulink block by ADAMS/Controls module. Then in the virtual prototype model, the required input and output variables were defined for co-simulation. The paper showed the schematic diagram of the co-simulation, designed the regulators and determined the synchronization control strategy.Finally, the co-simulation diagram was established as a co-simulation system for the multi-motor drive turntable. Then, the position closed-loop simulation was carried out under different conditions and the simulation curves were given for analyzing the performance of the control strategy. The curves included response curves under different inputs, response curves under different loads and response curves under exceptional circumstances. At last, the paper also gave practical debugging curves of the system. They proved the control strategy was effective.更多还原