基于DSP的数字阀控制器的研究
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摘要
本文主要工作是将步进电机正弦驱动和数字式位置反馈相互结合,目的在于提高系统的频响和分辨率,设计出应用于数字阀的控制器。
在流体传动及控制技术领域将流体控制元件与电-机械转换元件组合构成电液控制元件将成为流体控制元件的重要的发展趋势。步进电机是一种利用电磁作用原理将电信号转换成机械动作的电机,它与流体控制元件相结合构成了电液数字控制系统。本文根据混合式步进电机的特点,将步进电机的正弦波驱动与位置反馈相互结合,提出了步进电机的矢量控制算法,设计了数字阀的驱动器。实验证明,该方法能有效的提高系统的频率响应和分辨率。本文主要内容如下所示:
第一章结合国内外的文献,对本论文研究的主题进行综述。本章首先介绍了数字阀的种类,着重介绍了采用步进电机控制的增量式数字阀,接着阐述了步进电机的常用的控制方式。在此基础上,提出了课题的研究目的以及创新点。
第二章本章介绍了步进电机的特点、工作原理及典型的控制方式。着重介绍了在典型控制方式下电机驱动的优缺点,提出了基于位置反馈的正弦波驱动控制方式。另外,计算了运动部件的转动惯量和液动力的影响,从而说明了系统是否带负载对频率响应的影响可以忽略。
第三章主要介绍了基于DSP的数字阀控制器的硬件设计和实现。着重介绍了TMS320F2812的内部资源以及与位置传感器的接口的硬件实现,功率驱动板的具体设计以及软件实现方式等。
第四章介绍了正弦波的原理和程序实现,着重阐述了传感器芯片AS5045进行了动态与静态的测试,并进行了位置闭环的实验。实验表明,该传感器具有较高的精度和良好的重复性,通过位置闭环实验表明矢量控制能提高系统的频率响应,同时能保证系统具有较高的分辨率。
第五章全文总结并作后续展望。
The thesis deals with the application of stepper motor as electrical-to-mechanical interface, combining subdivided drive and digital feedback. The study is aimed at improving overall performances the digital valve's controller, including the frequency response characteristics and resolution.
Fluid transmission and control in the areas of fluid control technology and electronic components-a combination of mechanical components conversion electro-hydraulic control components fluid control devices will become an important trend of development. Stepper motor is a principle role will be using electromagnetic signals into mechanical movement of the motor, it is the combination of fluid control devices pose a number of electro-hydraulic control system.
Chapter 1: Based on the hybrid stepping motor characteristics, the sine wave drive stepper motor and position feedback combined with each other to put forward stepper motor vector control algorithm for the design of the digital valve drive. Experiments show that the method can effectively improve the system frequency response and resolution. This paper mainly content as follows:
Chapter 2: Integrate literature on the subject of this paper summarizes research. This chapter introduces the digital valve type, highlighted by a stepper motor control incremental digital valve, and then expounded the common stepper motor control. On this basis, the paper raises an issue of the purpose of the study and innovation.The chapter describes the characteristics of stepper motor, principle and the typical control mode. In addition, the calculation of the moving parts of the moment of inertia and momentum of the impact of the system so that the frequency response of the load with the impact can be ignored.
Chapter 3: Introduces the DSP-based digital valve controller hardware design and implementation.TMS320F2812 focuses on the internal resources and position sensor interface hardware, power driver board, as well as the specific software design methods.
Chapter 4: Introduces the principle of Sine Waves and procedures to achieve. The experiments show that the sensor with high accuracy, good repeatability, through the position of the experiments show that the closed-loop vector control system can increase the frequency response characteristics at the same time to ensure high-resolution system.
Chapter 5: Summary and look for the follow-up prospects.
在流体传动及控制技术领域将流体控制元件与电-机械转换元件组合构成电液控制元件将成为流体控制元件的重要的发展趋势。步进电机是一种利用电磁作用原理将电信号转换成机械动作的电机,它与流体控制元件相结合构成了电液数字控制系统。本文根据混合式步进电机的特点,将步进电机的正弦波驱动与位置反馈相互结合,提出了步进电机的矢量控制算法,设计了数字阀的驱动器。实验证明,该方法能有效的提高系统的频率响应和分辨率。本文主要内容如下所示:
第一章结合国内外的文献,对本论文研究的主题进行综述。本章首先介绍了数字阀的种类,着重介绍了采用步进电机控制的增量式数字阀,接着阐述了步进电机的常用的控制方式。在此基础上,提出了课题的研究目的以及创新点。
第二章本章介绍了步进电机的特点、工作原理及典型的控制方式。着重介绍了在典型控制方式下电机驱动的优缺点,提出了基于位置反馈的正弦波驱动控制方式。另外,计算了运动部件的转动惯量和液动力的影响,从而说明了系统是否带负载对频率响应的影响可以忽略。
第三章主要介绍了基于DSP的数字阀控制器的硬件设计和实现。着重介绍了TMS320F2812的内部资源以及与位置传感器的接口的硬件实现,功率驱动板的具体设计以及软件实现方式等。
第四章介绍了正弦波的原理和程序实现,着重阐述了传感器芯片AS5045进行了动态与静态的测试,并进行了位置闭环的实验。实验表明,该传感器具有较高的精度和良好的重复性,通过位置闭环实验表明矢量控制能提高系统的频率响应,同时能保证系统具有较高的分辨率。
第五章全文总结并作后续展望。
The thesis deals with the application of stepper motor as electrical-to-mechanical interface, combining subdivided drive and digital feedback. The study is aimed at improving overall performances the digital valve's controller, including the frequency response characteristics and resolution.
Fluid transmission and control in the areas of fluid control technology and electronic components-a combination of mechanical components conversion electro-hydraulic control components fluid control devices will become an important trend of development. Stepper motor is a principle role will be using electromagnetic signals into mechanical movement of the motor, it is the combination of fluid control devices pose a number of electro-hydraulic control system.
Chapter 1: Based on the hybrid stepping motor characteristics, the sine wave drive stepper motor and position feedback combined with each other to put forward stepper motor vector control algorithm for the design of the digital valve drive. Experiments show that the method can effectively improve the system frequency response and resolution. This paper mainly content as follows:
Chapter 2: Integrate literature on the subject of this paper summarizes research. This chapter introduces the digital valve type, highlighted by a stepper motor control incremental digital valve, and then expounded the common stepper motor control. On this basis, the paper raises an issue of the purpose of the study and innovation.The chapter describes the characteristics of stepper motor, principle and the typical control mode. In addition, the calculation of the moving parts of the moment of inertia and momentum of the impact of the system so that the frequency response of the load with the impact can be ignored.
Chapter 3: Introduces the DSP-based digital valve controller hardware design and implementation.TMS320F2812 focuses on the internal resources and position sensor interface hardware, power driver board, as well as the specific software design methods.
Chapter 4: Introduces the principle of Sine Waves and procedures to achieve. The experiments show that the sensor with high accuracy, good repeatability, through the position of the experiments show that the closed-loop vector control system can increase the frequency response characteristics at the same time to ensure high-resolution system.
Chapter 5: Summary and look for the follow-up prospects.
引文
[1]阮健.电液(气)直接数字控制技术.杭州:浙江大学出版社.2000.6
[2]骆涵秀,李世伦,朱捷,陈大军.机电控制.杭州:浙江大学出版社,1994.
[3]杨继隆,阮健,俞浙青.电磁高速开关阀的设计方案研究[J].机床与液压.2001.3:18-19
[4]田静.高速开关阀控制电路的开发[J].中国民航学院学报。2003.21(3):26-28
[5]阮健,李胜,杨继隆.液压及气动阀直接数字控制的新途径[J].中国机械工程.2000,11(3):317-320.
[6]许宇翔,李胜,阮健.直动式数字阀的阶跃响应分析[J].机床与液压.2008,4
[7]王传礼,哀桂峰.阀用电一机械转换器的应用研究.安徽理工大学学报.2005.12第25卷第4期:41-44
[8]李玉琳.液压元件与系统设计.北京:北京航空航天大学出版社,1991
[9]章宏甲,黄谊.液压传动.北京:机械工业出版社.2002.1
[10]Ruan and R.Burton,Direct Digital Control of 2D Directional Valve[J],Proceedings of Scandinavian International Conference on Fluid Power,Tampere.Finland,May,1999.
[11]李其朋,丁凡.电液伺服阀技术研究现状及发展趋势.工程机械.2003.6:28-33
[12]Li.s,Ruan.J,Burton.R,and Ukrainetz.p.2002,"Application of Stage Control in Material Testing Machine(MTS),"Proceeding of 2nd Chinese International Conference on Instrumentation,Jinan,China,pp.526-529.
[13]Ruan J,Xu YM,Yu C Y.Technique of Pressure Regulation with a Capillary Dampertube[M].Proceedings of Intermational Conference on Fluid Power Control and Robotics,1990:324-329
[14]哈尔滨工业大学,成都电机厂.步进电动机.科学出版社.1979:128 237-269
[15]蔡耀成.步进电动机国内外近期发展展望.微特电机.2000.5:28-30
[16]程树康.步进电动机细分控制时电流的定量描述。电工电能新技术,1990,9(3):15-19
[17]李德栋,谢晓芳,王昌金。步进电动机细分电流实验设计方法。微特电机,2002,35(2):16-17
[18]史敬灼.步进电动机伺服控制技术.北京:科学出版社2006.7
[19]王泮海.二相混合式步进电动机伺服系统研究.哈尔滨工业大学博士论文2004.9
[20]王宗培,孔昌平,李楚武.步进电动机及其控制系统.哈尔滨:哈尔滨工业大学出版社,1984
[21]J.D.Wale,C.Pollock.Hybrid Stepping Motors and Drives.Power Engineering Journal.2001,15(1):5-12
[22]李旺,崔淑梅,程树康,庄大庆.步进电机微步驱动中绕组电流波形的研究.微特电机.2000,1:3-5
[23]王鸿钮.步进电机控制技术入门.同济大学出版社.1990:1-12
[24]TakashiK.Stepper Motors and their Microprocessor controls.UK:Oxford University Press.1994:P 49-58
[25]姜淑忠,赵继敏,王庆文.正弦波电流驱动的三相混合式步进电动机的可变细分运行[J].电工技术杂志.1998,5:8-10
[26]A.Tozune,M.Sakamoto.Characteristics of Permanent-Magnet Type 3-phase Stepping Motor.Industry Applications Conference Record of the IEEE Thirtieth IAS Annual Meeting.1995,1(8-12):748755
[27]陈理壁.步进电机及其应用.上海:上海科学技术出版社,1985
[28]M.Jenkins.Hybrid Stepper Motors.IEEE Colloquium on Permanent Magnet Machines.1988:7/1-7/2
[29]T.C.Chin,D.P.Mital,M.A.Jabbar.A Stepper Motor Controller.International Conference on Control.1988:500 505
[30]R.Innes.Industrial Applications of Stepper Control Systems.TEE Colloquium on Stepper Motors and Their Control.1994:5/15/3
[31]徐殿国,王宗培.伺服驱动系统发展概况.微电机.1990,(3):16-22
[32]王宗培,孙宝奎.论步进电动机产品的格局(统一步进电动机相数和齿数的研究).电工技术学报.1999,14(4):5-9
[33]孙宝奎.混合式步进/同步电动机动态仿真的研究.哈尔滨工业大学博士学位论文.1998
[34]D.Jones.Selecting Step Motors vs.Servo Motors.Electrical Electronics Insulation Conference.1995:355372
[35]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社.2004.7
[36]王晓明.电动机的单片机控制.北京:北京航空航天大学出版社2002.5
[37]Rich Burton,Jian Ruan and Paul Ukrainetz,Analysis of Electromagnetic Nonlinearities in Stage Control of a Stepper Motor and Spool Valve[J],Journal of Dynamic Systems and Control,ASME,September 2003,Vol.125/405
[38]M.K.Jenkins,D.Howe,T.S.Birch.An Improved Design Procedure for Hybrid Stepper Motors.IEEE Transactions on Magnetic.1990,26(5):25352537
[39]杨继隆,李胜,阮健,袁巨龙.实时连续跟踪控制下的步进电机的动特性研究.浙江工业大学学报.2001.29(3):235-238
[40]孙鹤旭.交流步进传动系统.北京:机械工业出版社,1996.12
[41]苏奎锋,吕强,耿庆锋,陈圣俭.TMS320F2812原理与开发.北京:电子工业出版社2006.3
[42]王兆安,黄俊.电力电子技术.北京:机械工业出版社2005.9
[43]冯凯访.过程测试技术.陕西:西北工业大学出版社2002.3
[44]周浩敏,王睿.测试信号处理技术.北京:航空航天大学出版社2004.9
[45]飞思科技产品研发中心.MATLAB7基础与提高.北京:电子工业出版社。2005.4
[46]康华光.电子技术基础(模拟部分).北京:高等教育出版社1999.6
[47]秦曾煌.电工学.北京:高等教育出版社,1999,2
[48]强锡富.传感器.北京:机械工业出版社1994.5
[49]王福瑞.单片机微机测控系统设计大全.北京:北京航空航天大学出版社,1998
[50]刘明俊,杨壮志计,张拥军,郭鸿武.计算机控制原理与技术.长沙:国防科技大学出版社,1999.6
[51]孙江宏,李良玉.Protel 99电路设计与应用.北京:机械工业出版社,2002
[52]TMS320F2812 Datasheet TI Corporation@2006
[53]AS5045 Datasheet AustriaMicroSystems Corporation@2006
[54]74ALVC164245 Datasheet TI Corporation@2006
[55]TPS75733 Datasheet TI Corporation@2002
[56]TPS76801 Datasheet TI Corporation@2006
[57]TPS3823-33 Datasheet TI Corporation@2003
[58]IRF640 Datasheet Fairchild Corporation@2002
[59]IR2110 Datasheet IR Corporation@2000
[2]骆涵秀,李世伦,朱捷,陈大军.机电控制.杭州:浙江大学出版社,1994.
[3]杨继隆,阮健,俞浙青.电磁高速开关阀的设计方案研究[J].机床与液压.2001.3:18-19
[4]田静.高速开关阀控制电路的开发[J].中国民航学院学报。2003.21(3):26-28
[5]阮健,李胜,杨继隆.液压及气动阀直接数字控制的新途径[J].中国机械工程.2000,11(3):317-320.
[6]许宇翔,李胜,阮健.直动式数字阀的阶跃响应分析[J].机床与液压.2008,4
[7]王传礼,哀桂峰.阀用电一机械转换器的应用研究.安徽理工大学学报.2005.12第25卷第4期:41-44
[8]李玉琳.液压元件与系统设计.北京:北京航空航天大学出版社,1991
[9]章宏甲,黄谊.液压传动.北京:机械工业出版社.2002.1
[10]Ruan and R.Burton,Direct Digital Control of 2D Directional Valve[J],Proceedings of Scandinavian International Conference on Fluid Power,Tampere.Finland,May,1999.
[11]李其朋,丁凡.电液伺服阀技术研究现状及发展趋势.工程机械.2003.6:28-33
[12]Li.s,Ruan.J,Burton.R,and Ukrainetz.p.2002,"Application of Stage Control in Material Testing Machine(MTS),"Proceeding of 2nd Chinese International Conference on Instrumentation,Jinan,China,pp.526-529.
[13]Ruan J,Xu YM,Yu C Y.Technique of Pressure Regulation with a Capillary Dampertube[M].Proceedings of Intermational Conference on Fluid Power Control and Robotics,1990:324-329
[14]哈尔滨工业大学,成都电机厂.步进电动机.科学出版社.1979:128 237-269
[15]蔡耀成.步进电动机国内外近期发展展望.微特电机.2000.5:28-30
[16]程树康.步进电动机细分控制时电流的定量描述。电工电能新技术,1990,9(3):15-19
[17]李德栋,谢晓芳,王昌金。步进电动机细分电流实验设计方法。微特电机,2002,35(2):16-17
[18]史敬灼.步进电动机伺服控制技术.北京:科学出版社2006.7
[19]王泮海.二相混合式步进电动机伺服系统研究.哈尔滨工业大学博士论文2004.9
[20]王宗培,孔昌平,李楚武.步进电动机及其控制系统.哈尔滨:哈尔滨工业大学出版社,1984
[21]J.D.Wale,C.Pollock.Hybrid Stepping Motors and Drives.Power Engineering Journal.2001,15(1):5-12
[22]李旺,崔淑梅,程树康,庄大庆.步进电机微步驱动中绕组电流波形的研究.微特电机.2000,1:3-5
[23]王鸿钮.步进电机控制技术入门.同济大学出版社.1990:1-12
[24]TakashiK.Stepper Motors and their Microprocessor controls.UK:Oxford University Press.1994:P 49-58
[25]姜淑忠,赵继敏,王庆文.正弦波电流驱动的三相混合式步进电动机的可变细分运行[J].电工技术杂志.1998,5:8-10
[26]A.Tozune,M.Sakamoto.Characteristics of Permanent-Magnet Type 3-phase Stepping Motor.Industry Applications Conference Record of the IEEE Thirtieth IAS Annual Meeting.1995,1(8-12):748755
[27]陈理壁.步进电机及其应用.上海:上海科学技术出版社,1985
[28]M.Jenkins.Hybrid Stepper Motors.IEEE Colloquium on Permanent Magnet Machines.1988:7/1-7/2
[29]T.C.Chin,D.P.Mital,M.A.Jabbar.A Stepper Motor Controller.International Conference on Control.1988:500 505
[30]R.Innes.Industrial Applications of Stepper Control Systems.TEE Colloquium on Stepper Motors and Their Control.1994:5/15/3
[31]徐殿国,王宗培.伺服驱动系统发展概况.微电机.1990,(3):16-22
[32]王宗培,孙宝奎.论步进电动机产品的格局(统一步进电动机相数和齿数的研究).电工技术学报.1999,14(4):5-9
[33]孙宝奎.混合式步进/同步电动机动态仿真的研究.哈尔滨工业大学博士学位论文.1998
[34]D.Jones.Selecting Step Motors vs.Servo Motors.Electrical Electronics Insulation Conference.1995:355372
[35]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社.2004.7
[36]王晓明.电动机的单片机控制.北京:北京航空航天大学出版社2002.5
[37]Rich Burton,Jian Ruan and Paul Ukrainetz,Analysis of Electromagnetic Nonlinearities in Stage Control of a Stepper Motor and Spool Valve[J],Journal of Dynamic Systems and Control,ASME,September 2003,Vol.125/405
[38]M.K.Jenkins,D.Howe,T.S.Birch.An Improved Design Procedure for Hybrid Stepper Motors.IEEE Transactions on Magnetic.1990,26(5):25352537
[39]杨继隆,李胜,阮健,袁巨龙.实时连续跟踪控制下的步进电机的动特性研究.浙江工业大学学报.2001.29(3):235-238
[40]孙鹤旭.交流步进传动系统.北京:机械工业出版社,1996.12
[41]苏奎锋,吕强,耿庆锋,陈圣俭.TMS320F2812原理与开发.北京:电子工业出版社2006.3
[42]王兆安,黄俊.电力电子技术.北京:机械工业出版社2005.9
[43]冯凯访.过程测试技术.陕西:西北工业大学出版社2002.3
[44]周浩敏,王睿.测试信号处理技术.北京:航空航天大学出版社2004.9
[45]飞思科技产品研发中心.MATLAB7基础与提高.北京:电子工业出版社。2005.4
[46]康华光.电子技术基础(模拟部分).北京:高等教育出版社1999.6
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