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1、太原理工大学 硕士学位论文 基于永磁无刷直流电机的数控传动伺服系统建模与仿真研究 姓名：郑向周 申请学位级别：硕士 专业： 指导教师：李文斌 太原理工大学硕士研究生学位论文 I 基于永磁无刷直流电机的数控传动伺服系统建模与仿真研究基于永磁无刷直流电机的数控传动伺服系统建模与仿真研究 摘 要 经过几十年的经济发展，数控机床已经成为企业使用的主要设备，随 之而来的是大规模的数控设备老化、大修、更新、淘汰等问题，所以更换 数控系统、数控伺服系统的维修保养，数控伺服电机的更换，是数控设备 维修人员需要经常进行的工作。在这个过程中，怎样高效合理的选用数控 系统、伺服电机，系统怎样取得最佳的性价比是一个比
2、较突出的问题，需 要工程人员在这个方面进行研究。因此开展数控伺服系统的机械及电气系 统建模、动态性能仿真分析等方面的研究，对于合理确定伺服系统的各项 控制参数，保证控制真正发挥其内在功效十分重要，同时这方面的研究工 作，也是研制新型伺服系统的重要环节。 无刷直流电动机作为一种新型的无级变速电机，具有结构简单,制造方 便,不需要经常性维护等优点,是一种现想的变速电机。本文以无刷直流电 动机作为数控伺服电机为研究起点，首先建立伺服系统的机械传动系统模 型，通过建立无刷直流电机的数学模型，分析其电气性能，用传递函数办 法和 MATLAB 软件中 SIMULINK 模块进行系统建模和仿真分析，从伺服电
3、机、 变速箱、丝杠、工作台、工作阻力各个方面建立了整个机床伺服传动系统 的仿真模型，从而能够对系统稳定性、合理选择伺服电机型号，电机转动 惯量和系统的匹配等各方面进行客观的分析与研究。伺服系统的电气控制 太原理工大学硕士研究生学位论文 II 主要是基于电流环、速度环 位置环的三环反馈系统，而三环调节器都是使 用 PI 调结器或 P 调解器，本文先对各种调节器进行建模，通过仿真软件对 各个环节的电气性能参数进行模拟整定，对影响伺服进给系统动态性能的 因素进行了详细的仿真分析，找出影响进给系统动态性能的主要因素。其 结果对于合理确定伺服系统的各项参数，保证系统发挥其内在功效十分重 要。利用 Sim
4、ulink/Power System 下的各个模块，建立无刷直流电机控制 系统仿真模型。分析其结果和理论分析基本一致，它为进一步分析研究无 刷直流电机控制系统提供有效的工具，加快了实际系统的设计调试过程。 PID控制器虽然结构简单，但在克服较大扰动影响，提高系统动态品质 等方面并非最优，光靠调整PID参数难以获得满意的控制效果。模糊集合理 论是一种具有处理语言信息能力的控制理论。根据模糊集合理论设计的模 糊控制器，能够模仿操作人员手动控制作用，它不要求已知受控对象的数 学模型。只需现场操作人员的经验知识，使模型难以确定的复杂系统得以 有效的控制。本文根据模糊控制理论设计了模糊控制器，并将PID
5、控制和模 糊控制相结合，用于直流双闭环调速系统。通过仿真软件实现了仿真过程 分析，通过与传统PID控制进行比较观察，模糊控制对系统控制效果，抗扰 性能、响应速度，动态性能好等各方面有更好的优点。 关键词:关键词: 无刷直流电动机， Matlab/Simulink， PID 控制， 建模仿真， 模糊控制 太原理工大学硕士研究生学位论文 III THE NC TRANSMISSION SERVO SYSTEM MODELING AND SIMULATION BASED ON THE BLDCM ABSTRACT After decades of economic development, CNC
6、machine tool has become enterprise use of major equipment. The subsequent massive CNC equipment ageing, overhauls, updates, eliminated. Replace the CNC, NC servo system maintenance, CNC servo motor of change, is CNC equipment maintenance staff need to do the work. In this process, effective reasonab
7、le choice of CNC system, servo motors, system how best price/performance ratio is one obvious problem, need engineers conduct research in this area. Which NC servo system of mechanical and electrical systems modeling, simulation and analysis, etc, for reasonably determined servoing system of control
8、 parameters, guarantee control really bring its intrinsic function is very important, and this is also the new servo system. Brushless DC motor as a new variable speed motor, has a simple structure, manufacture, do not need regular maintenance, a variable speed motor would. This article to brushless
9、 DC motor as CNC servo motor as a starting point for research, first establish servo systems of mechanical drive systems model, by establishing a Brushless DC motor of mathematical models, analysis of its electrical properties, by transfer function and Matlab Simulink module in system modeling and s
10、imulation, from servo motors, gearboxes, screw, bench, working resistance aspects established the entire machine servo drive system simulation model, allowing for system stability, reasonable choice servo motor models, motor rotational inertia and system of matching, for objective analysis and resea
11、rch. The electrical control servo system is based on current loop, speed ring position ring of 太原理工大学硕士研究生学位论文 IV three loop feedback system, and the third ring regulator is the PID tuning knot or PD mediator, this article first to model the various regulators through the simulation software on all
12、aspects of the electrical properties of parameters for impersonation setting, impact servo system dynamic performance factors detailed simulation analysis, identify impacts feed system dynamic performance. The result is reasonably determined servoing system parameters, ensure the system release in e
13、fficiency is important. Using Simulink/Power System of individual modules, establish a Brushless DC motor control system simulation model. Analysis of its results and theoretical analysis of basically the same, it is a further analysis of brushless DC motor control system provides an effective tool,
14、 accelerates the actual system design the debugging process. PID controller, although the structure is simple, but overcome larger disturbance, improve system dynamic quality aspects is not optimal, rely on the PID parameters are difficult to obtain satisfactory control effects. Fuzzy set theory is
15、a processing language information capacity of control theory. According to the fuzzy set theory and design of fuzzy controller, to imitate the operators manual control function, it does not require a known mathematical model of the managed object. Simply field operations personnel experience knowled
16、ge, so it is difficult to determine the model of complex systems to effective control. This article is based on fuzzy control theory and design of fuzzy controller, and PID control and fuzzy control, for DC double loop system. Through simulation software for simulation and analysis, with traditional PID control is compared to the observation, fuzzy control systems control effect, rejection performance,
