【作者】 姜朋昌；

【导师】 柳洪义；

【作者基本信息】 东北大学 ， 机械电子工程， 2008， 硕士

【摘要】 近年来,随着电力电子技术、DSP微处理器技术、传感器技术、稀土永磁材料与电机控制理论的发展,交流伺服系统逐步取代直流伺服系统,正在发展成为伺服技术的主流。由于永磁同步电机具有调速范围广、定位精度和稳速精度高、动态响应快、运行稳定性好等优点,永磁交流伺服系统目前正在被越来越广泛地应用在数控机床、机器人、雕刻机、航空航天等多轴运动控制系统中。在具体产品制造出来之前,若有一个实验台,对伺服电机特性、多轴控制系统、控制理论与控制策略选择等进行实验和研究,可以验证电机选择是否恰当,控制系统的搭建是否正确,控制策略的选择是否合理,具有加快产品进程,节约成本等重要意义。东北大学机械电子工程研究所智能机器人实验室正在研制一种打磨机器人,在机器人加工出来之前,需要一个实验台对该机器人所选交流伺服电机、机器人控制系统,以及所选控制策略进行实验和研究,为此本文设计了一台具有多功能性和通用性的实验台,建立了永磁交流伺服系统实验台的控制系统,利用Visual Basic语言设计人机交互界面,实现了人机交互式操作,便于控制参数的设定以及系统运行状态的观测。该实验台可以给电机加不同负载,对电机特性进行实验研究；可以采用现代控制理论,编写先进控制算法程序,进行四轴联动运动控制实验研究。由于PMSM的控制比直流电机要复杂得多,且市场上出售的电机驱动器不具有开放性,给交流伺服系统的特性研究带来很大困难,为了更好地使用和研究交流伺服电机,深刻理解伺服驱动器的原理,本文介绍了交流伺服系统的组成和控制方式,在坐标变换的基础上,建立了交流永磁同步电机的数学模型,介绍了电机的PWM调制技术,对基于转子磁场定向的矢量控制和基于定子磁场的直接转矩控制两种永磁同步电机控制方法进行了研究,重点对电流跟踪型PWM逆变器(iPWM)矢量控制方法和空间电压矢量控制方法(SVPWM)进行了理论分析,通过在Matlab/Simulink中分别建立其仿真模型,验证了控制方法的正确性,为系统控制和调试提供依据。更多还原

【Abstract】 In recent years,with the development of power electronic technology, DSP microprocessor technology, sensor technology, rare earth permanent magnet materials and motor control theory, AC servo system gradually replaces DC servo system and it has become the servo technology mainstream.As permanent magnet synchronous motor has the advantages of wide range of speed, high positioning accuracy and static speed precision, fast dynamic response, good running stability permanent magnet AC servo system is widely used in CNC machine tools, robots,engraving machines, aeronautics & astronautics, and other multi-axis motion control systems.Before the specific products are manufactured, designing an experiment platform is necessary to study the servo motor characteristics, the multi-axis control system, the control theory and Control Strategy, and so on. It can help us to verify whether it is appropriate to choose motors, control system structures are correct and the control strategy is reasonable.It is very significant for speeding up the product development process, cost savings and so on.Intelligent robot lab of mechanical electronics engineering Institute Northeastern University is developing a polished robot. Before processing the robot, we need a test-bed to experiment and research the robot selected AC servo motors,the robot control system, and the selected control strategy.In this paper a multi-function and versatility experiment platform is designed and its control system is established. To achieve a human-computer interactive operation expediently, the human-computer interface is designed with Visual Basic language, which makes it easy to modify the control parameters and display the running state of system.On the experiment platform, we can experiment and research the characteristics of motor when the motor is given different load.We can also use modern control theory and program advanced control algorithms to study 4-axis motion control.As PMSM control is much more complex than the DC control,and the motor drive of market sell is not open, so it has some difficulties to study the properties of the servo system. In order to make better use of AC servo motors and deeply understand the principle of servo drives,in the paper, the constitutions and control ways of AC servo system are introduced.Basing on coordinate transform,the mathematic model of permanent magnet synchronous motor is established. The two control ways,vector control based on rotor magnetic field orientated and direct torque control based on stator magnetic field orientated, are studied and analysed Current-tracked PWM (iPWM)vector control and space voltage vector pulse width modulation (SVPWM) vector control are analysed theoretically in detail. Their simulation modeles based on matlab/simulink are completed, which validates the feasibility of control theory and provides the theory basis for threalization and debugging of real system.更多还原