机电集成超环面传动的动态分析与控制研究
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摘要
机电集成超环面传动是一种集超环面行星蜗杆传动和永磁同步电机于一体的复合空间传动。该传动实现了机、电和控制的有机集成,可以使机电系统的结构组成大为简化,在航空和航天等前沿技术领域具有潜在的应用前景。本文从传动输出特性、控制理论和控制实验等方面对机电集成超环面传动进行了深入系统的研究。
采用转化机构法,推导了机电集成超环面传动中行星轮转角与行星架转角的函数关系,根据不同蜗杆极对数对应的环面定子永磁齿数,提出了六种常见的行星轮安装方式。给出了在不同的安装方式下,同时参与啮合齿数和啮合区与蜗杆包角的关系式。推导了电磁啮合输出力矩,讨论了其随系统参数的变化规律。得到了六种安装方式下该传动力矩和角速度的输出特性。
建立了机电集成超环面传动系统的机电耦合动力学模型,推导了该传动输出角速度与输入电压间的传递函数,分析了传动参数对速度响应的影响规律。考虑该传动啮合齿对数变化引起的的波动,得到了系统的实际速度响应。设计了比例积分控制器,研究了控制系统对参数变化的鲁棒性。求得了速度扰动引起的响应,得到了补偿电压和理想的速度响应。
推导了机电集成超环面传动的力矩传递函数,得到了考虑力矩波动的实际力矩响应规律。运用二自由度控制方法,设计了二自由度力矩控制系统,分析了参数变化对控制系统力矩响应的影响规律,提出了周期性力矩扰动的校正方案。根据期望的动态性能,设计了二自由度速度控制系统独立的控制器,给出了补偿电压,验证了对速度扰动校正的有效性。
建立了机电集成超环面传动的状态空间模型,完成了最优调节器的设计,给出了状态变量的线性反馈控制规律,分析了权重系数选取对输出性能的影响规律。考虑该传动固有的波动规律,设计了最优伺服系统,分析了参数变化对伺服性能的影响规律。结合古典控制与现代控制原理,完成了带校正三阶系统最优控制器的设计,得到了平稳的最优控制律以及良好的跟踪响应特性,明显改善了系统的动态性能。
运用电机学理论,分析了机电集成超环面传动空间螺旋的蜗杆绕组电流,建立了绕组电流与行星轮永磁齿的磁动势模型,给出了该传动电感的解析表达式,分析了电感随传动参数的变化规律。建立了磁链方程,得到了转速为常值时电压方程的电磁瞬态解。结合转矩方程得到了传动系统的运动方程和状态方程,利用数值方法求解了该传动系统的状态方程,对系统的启动过程进行了仿真计算,讨论了状态变量的响应随参数的变化规律。
采用陀螺仪作为角速度传感器,设计并制作了偏置环节和运算放大电路,完成了机电集成超环面传动系统开环控制和闭环控制实验,通过与理论计算以及Simulink仿真结果对比,验证了理论分析的正确性,并为该传动系统控制理论的进一步研究和实验奠定了基础。
Electromechanical integrated toroidal drive is a kind of composite spacial drive with integration of toroidal drive and magnetic synchronous motor. In the drive, the mechanism, electricity and control are integrated, it makes the structure of the electromechanical systems simplified, it has potential application prospect at advancing edge of technical fields such as aviation and space flight. In this paper, systemic research has done at output characteristic, control theory and experiment for the drive.
With the law of mechanism conversion, the relation between rotational angles of the planet and the rotor is derived, according to the magnetic teeth number of stator with different worm pole-pairs, six kinds of mounting modes are proposed. For different modes, the expression of the mesh tooth pair number at the same time and mesh zone with worm facewidth angle is given. The output torque of electromagnetic mesh is derived, and its changes along with system parameters are discussed. The torque and speed output characteristic of six mounting modes are obtained.
The electromechanical coupled dynamic model of electromechanical integrated toroidal drive is established, speed transfer function is derived, and the influence of system parameters on speed response is analyzed. Taking changes of mesh tooth pair number into account, the practical speed responses are gained. The PI regulator is designed, the robust of control system for parameters is investigated. The response induced by disturb is solved, then, the compensating voltage and ideal output response are presented.
The torque transfer function of electromechanical integrated toroidal drive is developed, and the practical torque responses with fluctuation are obtained. Using two-degree-of-freedom control method, the two-degree-of-freedom torque control system is designed for the drive, and the effects of parameters on torque response for control system are explored, then, the amendment scheme for periodic torque fluctuation is put forward. According to expected dynamic property, the independent controllers for two-degree-of-freedom speed control system are designed, compensating voltage is given, and validity of speed disturb amendment is proved.
The state-space model of electromechanical integrated toroidal drive is built. Design of optimal regulator is completed, linear feedback control law for state variables are represented, and the influence of weight coefficients selection on output performance is discussed. Considering inherent fluctuation of the drive, servo system is designed, and influence with respect to system parameter changes on servo performance is explored. Combine classic and modern control principle, the design of three-order optimal controller with regulator is achieved, smooth optimal control and better tracing response are gained, so greatly improve the dynamic performance.
Spiral space current of electromechanical integrated toroidal drive in worm windings is analyzed based on electromechanics, magnetomotive model of winding current and planet magnetic teeth is built, analytic expression of inductance for the drive is given, and the changes of inductance along with parameters is discussed. Flux linkage equation is constituted, the electromagnetic transient of voltage equation with constant speed is gained. Motion equations and state equation are developed combining torque equation, and the state equation of the system is solved with numeric method, the start process is simulated, following, the influence of system parameters on state variables response is presented.
Employing gyroscope as sensor apparatus, the offset segment and operational amplifier are designed and fabricated, the open and closed control experiment for electromechanical integrated toroidal drive are carried out, the correctness of theoretical analyse is confirmed by comparison with theoretical results and simulink emulation, the investigation supplies foundation for further control theory research and experiment of the drive system.
采用转化机构法,推导了机电集成超环面传动中行星轮转角与行星架转角的函数关系,根据不同蜗杆极对数对应的环面定子永磁齿数,提出了六种常见的行星轮安装方式。给出了在不同的安装方式下,同时参与啮合齿数和啮合区与蜗杆包角的关系式。推导了电磁啮合输出力矩,讨论了其随系统参数的变化规律。得到了六种安装方式下该传动力矩和角速度的输出特性。
建立了机电集成超环面传动系统的机电耦合动力学模型,推导了该传动输出角速度与输入电压间的传递函数,分析了传动参数对速度响应的影响规律。考虑该传动啮合齿对数变化引起的的波动,得到了系统的实际速度响应。设计了比例积分控制器,研究了控制系统对参数变化的鲁棒性。求得了速度扰动引起的响应,得到了补偿电压和理想的速度响应。
推导了机电集成超环面传动的力矩传递函数,得到了考虑力矩波动的实际力矩响应规律。运用二自由度控制方法,设计了二自由度力矩控制系统,分析了参数变化对控制系统力矩响应的影响规律,提出了周期性力矩扰动的校正方案。根据期望的动态性能,设计了二自由度速度控制系统独立的控制器,给出了补偿电压,验证了对速度扰动校正的有效性。
建立了机电集成超环面传动的状态空间模型,完成了最优调节器的设计,给出了状态变量的线性反馈控制规律,分析了权重系数选取对输出性能的影响规律。考虑该传动固有的波动规律,设计了最优伺服系统,分析了参数变化对伺服性能的影响规律。结合古典控制与现代控制原理,完成了带校正三阶系统最优控制器的设计,得到了平稳的最优控制律以及良好的跟踪响应特性,明显改善了系统的动态性能。
运用电机学理论,分析了机电集成超环面传动空间螺旋的蜗杆绕组电流,建立了绕组电流与行星轮永磁齿的磁动势模型,给出了该传动电感的解析表达式,分析了电感随传动参数的变化规律。建立了磁链方程,得到了转速为常值时电压方程的电磁瞬态解。结合转矩方程得到了传动系统的运动方程和状态方程,利用数值方法求解了该传动系统的状态方程,对系统的启动过程进行了仿真计算,讨论了状态变量的响应随参数的变化规律。
采用陀螺仪作为角速度传感器,设计并制作了偏置环节和运算放大电路,完成了机电集成超环面传动系统开环控制和闭环控制实验,通过与理论计算以及Simulink仿真结果对比,验证了理论分析的正确性,并为该传动系统控制理论的进一步研究和实验奠定了基础。
Electromechanical integrated toroidal drive is a kind of composite spacial drive with integration of toroidal drive and magnetic synchronous motor. In the drive, the mechanism, electricity and control are integrated, it makes the structure of the electromechanical systems simplified, it has potential application prospect at advancing edge of technical fields such as aviation and space flight. In this paper, systemic research has done at output characteristic, control theory and experiment for the drive.
With the law of mechanism conversion, the relation between rotational angles of the planet and the rotor is derived, according to the magnetic teeth number of stator with different worm pole-pairs, six kinds of mounting modes are proposed. For different modes, the expression of the mesh tooth pair number at the same time and mesh zone with worm facewidth angle is given. The output torque of electromagnetic mesh is derived, and its changes along with system parameters are discussed. The torque and speed output characteristic of six mounting modes are obtained.
The electromechanical coupled dynamic model of electromechanical integrated toroidal drive is established, speed transfer function is derived, and the influence of system parameters on speed response is analyzed. Taking changes of mesh tooth pair number into account, the practical speed responses are gained. The PI regulator is designed, the robust of control system for parameters is investigated. The response induced by disturb is solved, then, the compensating voltage and ideal output response are presented.
The torque transfer function of electromechanical integrated toroidal drive is developed, and the practical torque responses with fluctuation are obtained. Using two-degree-of-freedom control method, the two-degree-of-freedom torque control system is designed for the drive, and the effects of parameters on torque response for control system are explored, then, the amendment scheme for periodic torque fluctuation is put forward. According to expected dynamic property, the independent controllers for two-degree-of-freedom speed control system are designed, compensating voltage is given, and validity of speed disturb amendment is proved.
The state-space model of electromechanical integrated toroidal drive is built. Design of optimal regulator is completed, linear feedback control law for state variables are represented, and the influence of weight coefficients selection on output performance is discussed. Considering inherent fluctuation of the drive, servo system is designed, and influence with respect to system parameter changes on servo performance is explored. Combine classic and modern control principle, the design of three-order optimal controller with regulator is achieved, smooth optimal control and better tracing response are gained, so greatly improve the dynamic performance.
Spiral space current of electromechanical integrated toroidal drive in worm windings is analyzed based on electromechanics, magnetomotive model of winding current and planet magnetic teeth is built, analytic expression of inductance for the drive is given, and the changes of inductance along with parameters is discussed. Flux linkage equation is constituted, the electromagnetic transient of voltage equation with constant speed is gained. Motion equations and state equation are developed combining torque equation, and the state equation of the system is solved with numeric method, the start process is simulated, following, the influence of system parameters on state variables response is presented.
Employing gyroscope as sensor apparatus, the offset segment and operational amplifier are designed and fabricated, the open and closed control experiment for electromechanical integrated toroidal drive are carried out, the correctness of theoretical analyse is confirmed by comparison with theoretical results and simulink emulation, the investigation supplies foundation for further control theory research and experiment of the drive system.
引文
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