一种多电机驱动转台的仿真平台设计和控制方法研究
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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。
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.
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。
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.
引文
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[2]Gawronski W, Beech-brandt J J, Ahlstrom H Getal. Torque-bias profile for improving tracking of the deep space network antennas[J]. IEEE on Antennas and Propagation, 2000,42(6):35-45
[3]Chang Sun Lai, Tsai Lung Wen. On the redundant-drive backlash-free robotic mechanisms[J]. Journal of Mechanical Design,1993,115:115-246
[4]Tao G, Ma X, Ling Y. Optimal and nonlinear decoupling control of systems with sandwiched backlash[J]. Automatic,2001,37(2):165-176
[5]王国亮.基于模糊PID补偿器的多电机同步控制策略研究[D].沈阳：东北大学,2006
[6]赵亮,刘星桥,陈冲,白雪飞.基于神经元解耦RBF网络多电机系统参数PID控制[J].电气传动,2009,39(1)：59-62
[7]刘福才,张学莲,刘立伟.多级电机传动系统同步控制理论与应用研究[J].控制工程,2002,9(4)：87-90
[8]刘立伟,刘福才,张学莲.内模控制在多电机同步驱动系统中的应用[J].燕山大学学报,2002,26(3)：264-267
[9]王建侠.多电机同步联动系统的动力学建模及消隙算法研究[D].南京：南京理工大学,2004
[10]陈庆伟,郭毓,胡维礼,王建侠.多电机同步联动系统的动力学分析与建模[J].东南大学学报,2004,34：135-140
[11]陈庆伟,郭毓,杨静忠.提高齿隙非线性系统精度的应用研究[J].南京理工大学学报,2005,24(6)：486-489
[12]Tomizuka M., Hu J, Chiu, Kmanao T.. Synchronization of Two Motion Control Axes Under Adaptive Feed forward Control[J]. ASME Journal of Dynamic Systems, Measurement and Control,1992,114:3234-3245
[13]Koren Y. Cross-coupled Bixial Computer Control for Manufacturing System[J]. ASME Journal of Dynamic Systems, Measurement and Control,1980,102(12):1324-1330
[14]Kulkarni P, Srinivasaa K. Cross-coupled compensators for contouring control of multi-axial machine tools[C]. North American:In Proceedings of the 13th Manufacturing Research Conference,1985
[15]Kulkarni P, Srinivasaa K. Cross-coupled compensators for multi-axial feed drive servomechanisms[C]. Japan USA:In Proceedings of Japan-USA Symposium of Flexible Automation,1986
[16]Kulkarni P, Srinivasaa K. Optimal contouring control of multi-axial feed drive servomechanisms[J]. ASME Journal of Engineering for Industry,1989,111(2):140-148
[17]杨非.多电机同步联动控制系统的设计与分析[D].南京：南京理工大学,2005
[18]文方,姜孝华.多级电机同步驱动控制系统[J].电气传动,2000,5：14-17
[19]刘福才,张学莲.基于模糊PID补偿控制的多电机同步驱动系统[J].电子技术,2002,8：29-31
[20]康玉辉。基于虚拟样机技术的六轮腿移动机器人研究[D].南京：南京理工大学,2007
[21]代春英.基于虚拟样机技术的22kw封闭式差动无极变速器的研究[D].西安：西安理工大学,2006
[22]周泉.基于虚拟样机技术的旋转平台传动系统的动力学分析[D].武汉：武汉科技大学,2009
[23]Junji Nomura, Kazuya Sawada, Virtual Reality Technology and Its Industrial Applications[J]. Control Engineering Practice,1999,7:1381-1394
[24]席俊杰.虚拟样机技术的发展及应用[J].制造业自动化,2006
[25]顾铭,洪明,宋鸣.虚拟样机技术及其在ADAMS中的应用[J].成都电子高等专科学校学报,2005,4：1-4
[26]王成,王效岳.虚拟样机技术及ADAMS[J].机械工程与自动化,2004,6：66-68
[27]黄玉美,张广鹏,高峰.虚拟样机整机机构特性边界元仿真[M].北京：机械工业出版社,2004
[28]马履中,尹小琴.新型三平移并联机器人机构动力分析与动态仿真[J].农业机械学报,2002,33(2)：80-83
[29]章序君.仿壁虎机器人的机构设计与仿真[D].南京：南京航空航天大学,2005
[30]王晓莲.基于ADAMS和MATLAB的汽车主动悬架联合仿真研究[D].吉林：吉林大学,2009
[31]李智峰.汽车整车多体系统动力学仿真研究[D].上海：同济大学,2000
[32]陈绍军.基于虚拟样机的大型风电机组齿轮传动系统冲击特性分析[D].北京：华北电力大学,2008
[33]李睿.一种平地、楼梯两用助行装置的建模与设计[D].南京：南京理工大学,2009
[34]二代龙震工作室.Pro/Mechanism Wildfire 3.0/4.0机构／运动分析[M].北京：电子工业出版社,2008
[35]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程[M].北京：清华大学出版社,2005
[36]李军,邢俊文等.ADAMS实例教程[M].北京：北京理工大学出版社,2002
[37]周焱强.直齿圆柱齿轮以及裂纹故障的动态特性分析与数值模拟[D].太原：太原理工大学,2008
[38]于志伟,李明.Pro/ENGINEER野火版3.0零件设计完全手册[M].北京：人民邮电出版社,2006
[39]Koichi Kondo. PIGMOD. Parametric and interactive geometric modeling for mechanical design[J]. Computer Aided design,1990,22(40);633-644
[40]D.Roller.An approach to computer-aided parametric design[J]. Computer Aided Design, 1991,23(5):385-391
[41]W.F.Resh. Computer Aided Engineering in Engine Design[J]. International journal of Vehicle Design,2000,23(12):30-37
[42]陈志刚,吴雪飞.基于Pro/E及ADAMS圆柱齿轮减速器的参数化建模和运动仿真[J].机械研究与应用,2005,18(2)：105-109
[43]李增刚.AD AMDS入门详解与实例[M].北京：国防工业出版社,2006
[44]郭卫东.虚拟样机技术与ADAMS实例教程[M].北京：北京航空航天大学出版社,2008
[45]葛正浩.ADAMS 2007虚拟样机技术[M].北京：化学工业出版社,2010
[46]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践[M].西安：西北工业大学出版社,2002
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