基于PC机的开放式直线交流伺服系统的研究
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摘要
本文研究了一种基于PC机的开放式交流伺服系统，并就它的产生背景、特点和优势作了详细的阐述。开放式交流伺服控制系统实为一种模块化、可重构、可扩充的软硬件系统，其核心是开放式，即这一系统是建立在通用体系结构的PC机平台上，系统中各模块相互独立，系统的开放性允许用户将先进的控制策略和个性模块植入其中，各模块的接口协议明确，能使各种应用系统有效地运行于不同供应商提供的不同平台上，为伺服电机制造厂商提供了与任何第三方的技术或产品进行集成的可能性。该系统具有互换性、可伸缩性、可移植性、互操作性和可扩展性。
本次课题研究，首先介绍了基于PC机的开放式交流伺服系统的组成方案。在硬件平台设计中进行了工控机组件及外围I/O接口卡的配置，软件平台设计中则完成了软件开发环境和编程语言的选择，介绍了一种图形化编程语言LabVIEW的功能，提出了系统软件设计的基本原则，然后在LabVIEW下对I/O接口卡的性能进行了测试。
在上述系统软、硬件平台确定以后，研究了基于PC机的直线交流伺服系统的具体实现方法。设计了系统硬件电路，包含传感反馈单元及功率驱动模块，并针对直线电机传感检测的特点，提出了基于霍尔开关型位置传感器+光栅尺的复合式磁极位置检测方法，从而实现了磁极位置的精确定位，保证了矢量控制的性能。
此外，还编制了基于LabVIEW语言的直线电机空间磁场定向控制程序。程序结构采用标准模块化设计，由前面板模块、电流采样模块、电机转速和位置计算模块、矢量变换模块、PID调节模块、故障处理模块、SVPWM生成模块组成，这些模块协调工作，共同来完成直线交流伺服系统的控制、调节工作。在PID控制器设计中，调节器采用了积分分离的PID控制算法。
随着PC机软、硬件技术的发展，基于PC机的开放式交流伺服系统的性能、开放程度也必将得到进一步的完善和提高，具有广泛的应用前景。
A PC- based open architecture AC servo system is studied in this paper. Its background, property and advantage are discussed in detail. Open architecture AC servo system is a system of modularization, recombination and expansion. Its core is opening, namely the system is established on the PC platform of general using system construction, and the module is independent each other. The opening of system can make the user embedding advanced control strategy and individuality module in it. Connect agreement of each module is clear and definite, which can make every kind of applied system operating effectively on platform of different supplier. The system has characters of interconversion, retractility, transplant, interplay and enlargement.
The design project of PC-based open architecture AC servo system is introduced in this paper firstly. In the design of hardware platform, the Industry Control PC and its I/O periphery interface card are selected. The choice of software exploitation environment and programme language are accomplished in the design of software platform. The function of a graphics language LabVIEW and the basic design principle of system software are introduced and then some capability test of I/O periphery interface card in the LabVIEW is accomplished.
This paper researched the realization of PC-based linear AC servo system after hardware and software platform are confirmed. The hardware circuit of the system is designed, which includes sensors and power-driving module. The paper presents compound measure method of magnetic pole position based on position sensor of Hall switch and grating ruler, which realized the precision orientation of magnetic pole position and ensured the performance of vector control.
The program of the magnetic field orientated control of linear motor based on LabVIEW language is given. Program structure of standard modularize design is adopted, which mainly consists of panel module, current sampling module, velocity and position calculate module, vector commutation module, PI adjust module, fault handle module, SVPWM produce module. PID control arithmetic of integral detached is used in the design of PID controller.
With the development of PC software and hardware technology, the performance and opening degree of PC- based open architecture AC servo system will be further perfection and improvement that have the extensive applied foreground.
本次课题研究，首先介绍了基于PC机的开放式交流伺服系统的组成方案。在硬件平台设计中进行了工控机组件及外围I/O接口卡的配置，软件平台设计中则完成了软件开发环境和编程语言的选择，介绍了一种图形化编程语言LabVIEW的功能，提出了系统软件设计的基本原则，然后在LabVIEW下对I/O接口卡的性能进行了测试。
在上述系统软、硬件平台确定以后，研究了基于PC机的直线交流伺服系统的具体实现方法。设计了系统硬件电路，包含传感反馈单元及功率驱动模块，并针对直线电机传感检测的特点，提出了基于霍尔开关型位置传感器+光栅尺的复合式磁极位置检测方法，从而实现了磁极位置的精确定位，保证了矢量控制的性能。
此外，还编制了基于LabVIEW语言的直线电机空间磁场定向控制程序。程序结构采用标准模块化设计，由前面板模块、电流采样模块、电机转速和位置计算模块、矢量变换模块、PID调节模块、故障处理模块、SVPWM生成模块组成，这些模块协调工作，共同来完成直线交流伺服系统的控制、调节工作。在PID控制器设计中，调节器采用了积分分离的PID控制算法。
随着PC机软、硬件技术的发展，基于PC机的开放式交流伺服系统的性能、开放程度也必将得到进一步的完善和提高，具有广泛的应用前景。
A PC- based open architecture AC servo system is studied in this paper. Its background, property and advantage are discussed in detail. Open architecture AC servo system is a system of modularization, recombination and expansion. Its core is opening, namely the system is established on the PC platform of general using system construction, and the module is independent each other. The opening of system can make the user embedding advanced control strategy and individuality module in it. Connect agreement of each module is clear and definite, which can make every kind of applied system operating effectively on platform of different supplier. The system has characters of interconversion, retractility, transplant, interplay and enlargement.
The design project of PC-based open architecture AC servo system is introduced in this paper firstly. In the design of hardware platform, the Industry Control PC and its I/O periphery interface card are selected. The choice of software exploitation environment and programme language are accomplished in the design of software platform. The function of a graphics language LabVIEW and the basic design principle of system software are introduced and then some capability test of I/O periphery interface card in the LabVIEW is accomplished.
This paper researched the realization of PC-based linear AC servo system after hardware and software platform are confirmed. The hardware circuit of the system is designed, which includes sensors and power-driving module. The paper presents compound measure method of magnetic pole position based on position sensor of Hall switch and grating ruler, which realized the precision orientation of magnetic pole position and ensured the performance of vector control.
The program of the magnetic field orientated control of linear motor based on LabVIEW language is given. Program structure of standard modularize design is adopted, which mainly consists of panel module, current sampling module, velocity and position calculate module, vector commutation module, PI adjust module, fault handle module, SVPWM produce module. PID control arithmetic of integral detached is used in the design of PID controller.
With the development of PC software and hardware technology, the performance and opening degree of PC- based open architecture AC servo system will be further perfection and improvement that have the extensive applied foreground.
引文
[1] 袁宏，郭淑芳，汪海英．交流伺服系统的现状及发展趋势．沈阳工业大学学报，1995(6)．90～93页
[2] 夏俊昇，何永义．基于PC机的开放式控制系统的研究与开发．机电工程，2001(6)．7～9页
[3] 陈兴国，刘建国．模糊控制交流伺服系统的实现．株洲工业学院学报，1998(1)．32～37页
[4] 郭庆鼎，孙艳娜．直线永磁伺服电动机的H~∞鲁棒自适应控制．电工技术学报，2000(4)．1～4页
[5] 谢力华，王爱兵，王明证．滑模变结构控制在交流伺服系统中的应用．煤矿自动化，2000(4)．11～13页
[6] 杨霞，孙丹．交流调速系统控制策略的研究．沈阳工业大学学报，2002(2)．125～127页
[7] 张正勇，熊清平，李作清．Windows系列平台下的实时控制与研究．机电工程，1999(3)．36～37页
[8] G. Pritschow, Ch. Daniel. Open System Controller-A Challenge for the Future of the Machine Tool Industry. Annals of the CIRP. 1993.42p
[9] 周祖德，魏仁选，陈幼平．开放式控制系统的现状、趋势与对策．中国机械工程，1999，(10)．1090～1093页
[10] 戴晓华，王文，王威等．开放式数控系统研究综述．组合机床与自动化加工，2000(11)．5～7页
[11] 胡俊，王宇晗，吴祖遇等．数控技术的发展和现状．机械工程师，2000(3)．5～7页
[12] 杨晓京，张仲彦，李浙昆等．开放式微机数控系统实现技术研究．昆明理工大学学报，2002(2)．50页
[13] 王洋，倪雁冰，黄田等．三平动并联机床开放式数控系统开发．机械设计，2001(9)．15～17页
[14] 姜文刚．高速高精度数字伺服系统研制．南京理工大学硕士学位论文，2002，1
[15] 蔡德聪等．工业控制计算机实时操作系统．北京：清华大学出版社，1999
[16] 杨乐平，李海涛，肖相生等．LabVIEW程序设计与应用．北京：电子工业出版社，2001
[17] 阎群，孙昌国，林文兴等．基于工业PC机的数控旋压系统控制软件设计．锻压技术，2002(2)．41～43页
[18] 付永红等．基于Windows下数控软件的设计与实现．机电一体化，2001(1)．28～31页
[19] 叶云岳．直线电机原理与应用．北京：机械工业出版社，2000
[20] 郭庆鼎，王成元等．直线交流伺服系统的精密控制技术，北京：机械工业出版社，2000
[21] Guo Qingding, Luo Ruifu, Wang Limei. Complete Digital PMSM Sytem Based on New Self-Tuning PID Algorithm and DSP. Proceeding of IEE PEVD'96. Shanghai China.71～75p
[22] Guo Qingding, Luo Ruifu, Wang Limei. Robust PMLSM servo system using disturbance obser based on acceleration control loop. Proceding of IEE PEVD'96. Nottingham UK. 1996.288～293p
[23] Hang C C,Tan C H and Chan W P. A Performance Study of control systems With Dead Time. IEEE Trans Ind Electron Contr Instrum. Aug 1998. IECI-27
[24] Donghue J F. Comparision of The Smith Predictor And Optimal Design Approches For System With Delay in The Control. IEEE Trans Ind Electron Contr Instrum. Aug 1998. IECI-27
[25] Jastrom K, Chang C and Lim BC. A New Smith Predictor for Controlling a Process with an Integrator and Long Dead-Time. IEEE Trans Auto Control. Feb 1994. 343～345p
[26] 刘晨辉．多变量过程控制系统解耦理论．北京：机械工业出版社，1982
[27] Jeong-hyoun Sung and Kwanghee Nam. A New Approach to Vector Control for a Liner Induction Motor Considering End Effetc. IEEE. 1999. 2284～2289p
[28] F.J.Lin, C.H.Lin and C.M.Hong. Robust control of Liner Synchronous Motor Servodrive Using Disturbance Observer and Recurrent Neural Network Compensator. IEE. Electr. Power Appl. July 2000. 263～272p
[29] 王成元，周美文，郭庆鼎．矢量控制交流伺服驱动电动机．北京：机械工业出版社，1995
[30] 郭庆鼎，王成元．异步电动机矢量变换控制原理及其应用．辽宁：辽宁民族出版社，1998
[31] 陶永华，尹怡欣，葛芦生．新型PID控制系统及其应用．北京：机械工业出版社，1995
[32] 刘金琨．先进PID控制及其MATLAB仿真．北京：电子工业出版社，2003
[33] K.Yamamoto, K.Shinobara. Comparison between Space Vector Modulation and Subharmonic Methods for Current Harmonic of DSP-Based Permanent-magnet AC Sevomotor Drive System. IEE. Electr.Power.Appl.March 1996. 151～156p
[34] H.W.Vander Broeck and H.C.Skudenlny. Analysis and Realization of A Pulse Width Modulator Based on Voltage Space Vector. IEEE Trans. 1998.142～150p
[35] 屈莉莉，杨振坤，杨兆华．三相电压型PWM整流器空间矢量脉宽调制研究．电工技术杂志．2002(7)．7～9页
[36] F.Profumo and A.Boglietti etc. Space Vector and Sinusoidal PWM Techniques Comparison Keeping in Account the Secondary Effects.IEEE.92.394～399p
[37] 王成元，李超，夏加宽．PC总线直线交流伺服系统的研制．电工技术，2003(10)．27～1页
[38] 段武堂，熊正明．WB系列霍尔电流传感器／变送器．传感器研究与开发，2002(3)．21～23页
[39] 曲家骐，王季秩．伺服控制系统中的传感器．北京：机械工业出版社，1999
[40] 张逸，章企，陆申龙．集成开关型霍尔传感器的特性测量和应用．大学物理实验，2000(6)．1～4页
[41] 陈国呈．PWM变频调速技术．北京：机械工业出版社，1999
[42] 唐勇奇．基于DSP和IPM的空间电压矢量法调速系统．半导体技术，2001(4)．12～14页
[43] 夏加宽，李嗥东，王成元．基于TMS320F240的全数字化交流伺服控制系统设计．电工技术杂志，2001(11)．1～3页
[44] Implementation of a Field Orietated Control of a 3-phase AC Motor with F240. TI Corp .Application Note, NO.BPRA076, 1998
[45] Clarke & Park Transforms on the TMS320C2XX. TI Corp .Application Note, NO.BPRA048, 1997
[46] 郑光华，丁轲轲．积分分离PID控制算法研究．计算机仿真．1990(3)．35～38页
[47] 李刚，林明兰，何军辉．基于DSP的SVPWM波实时生成方法．现代电子技术，2001(7)．73～75页
[2] 夏俊昇，何永义．基于PC机的开放式控制系统的研究与开发．机电工程，2001(6)．7～9页
[3] 陈兴国，刘建国．模糊控制交流伺服系统的实现．株洲工业学院学报，1998(1)．32～37页
[4] 郭庆鼎，孙艳娜．直线永磁伺服电动机的H~∞鲁棒自适应控制．电工技术学报，2000(4)．1～4页
[5] 谢力华，王爱兵，王明证．滑模变结构控制在交流伺服系统中的应用．煤矿自动化，2000(4)．11～13页
[6] 杨霞，孙丹．交流调速系统控制策略的研究．沈阳工业大学学报，2002(2)．125～127页
[7] 张正勇，熊清平，李作清．Windows系列平台下的实时控制与研究．机电工程，1999(3)．36～37页
[8] G. Pritschow, Ch. Daniel. Open System Controller-A Challenge for the Future of the Machine Tool Industry. Annals of the CIRP. 1993.42p
[9] 周祖德，魏仁选，陈幼平．开放式控制系统的现状、趋势与对策．中国机械工程，1999，(10)．1090～1093页
[10] 戴晓华，王文，王威等．开放式数控系统研究综述．组合机床与自动化加工，2000(11)．5～7页
[11] 胡俊，王宇晗，吴祖遇等．数控技术的发展和现状．机械工程师，2000(3)．5～7页
[12] 杨晓京，张仲彦，李浙昆等．开放式微机数控系统实现技术研究．昆明理工大学学报，2002(2)．50页
[13] 王洋，倪雁冰，黄田等．三平动并联机床开放式数控系统开发．机械设计，2001(9)．15～17页
[14] 姜文刚．高速高精度数字伺服系统研制．南京理工大学硕士学位论文，2002，1
[15] 蔡德聪等．工业控制计算机实时操作系统．北京：清华大学出版社，1999
[16] 杨乐平，李海涛，肖相生等．LabVIEW程序设计与应用．北京：电子工业出版社，2001
[17] 阎群，孙昌国，林文兴等．基于工业PC机的数控旋压系统控制软件设计．锻压技术，2002(2)．41～43页
[18] 付永红等．基于Windows下数控软件的设计与实现．机电一体化，2001(1)．28～31页
[19] 叶云岳．直线电机原理与应用．北京：机械工业出版社，2000
[20] 郭庆鼎，王成元等．直线交流伺服系统的精密控制技术，北京：机械工业出版社，2000
[21] Guo Qingding, Luo Ruifu, Wang Limei. Complete Digital PMSM Sytem Based on New Self-Tuning PID Algorithm and DSP. Proceeding of IEE PEVD'96. Shanghai China.71～75p
[22] Guo Qingding, Luo Ruifu, Wang Limei. Robust PMLSM servo system using disturbance obser based on acceleration control loop. Proceding of IEE PEVD'96. Nottingham UK. 1996.288～293p
[23] Hang C C,Tan C H and Chan W P. A Performance Study of control systems With Dead Time. IEEE Trans Ind Electron Contr Instrum. Aug 1998. IECI-27
[24] Donghue J F. Comparision of The Smith Predictor And Optimal Design Approches For System With Delay in The Control. IEEE Trans Ind Electron Contr Instrum. Aug 1998. IECI-27
[25] Jastrom K, Chang C and Lim BC. A New Smith Predictor for Controlling a Process with an Integrator and Long Dead-Time. IEEE Trans Auto Control. Feb 1994. 343～345p
[26] 刘晨辉．多变量过程控制系统解耦理论．北京：机械工业出版社，1982
[27] Jeong-hyoun Sung and Kwanghee Nam. A New Approach to Vector Control for a Liner Induction Motor Considering End Effetc. IEEE. 1999. 2284～2289p
[28] F.J.Lin, C.H.Lin and C.M.Hong. Robust control of Liner Synchronous Motor Servodrive Using Disturbance Observer and Recurrent Neural Network Compensator. IEE. Electr. Power Appl. July 2000. 263～272p
[29] 王成元，周美文，郭庆鼎．矢量控制交流伺服驱动电动机．北京：机械工业出版社，1995
[30] 郭庆鼎，王成元．异步电动机矢量变换控制原理及其应用．辽宁：辽宁民族出版社，1998
[31] 陶永华，尹怡欣，葛芦生．新型PID控制系统及其应用．北京：机械工业出版社，1995
[32] 刘金琨．先进PID控制及其MATLAB仿真．北京：电子工业出版社，2003
[33] K.Yamamoto, K.Shinobara. Comparison between Space Vector Modulation and Subharmonic Methods for Current Harmonic of DSP-Based Permanent-magnet AC Sevomotor Drive System. IEE. Electr.Power.Appl.March 1996. 151～156p
[34] H.W.Vander Broeck and H.C.Skudenlny. Analysis and Realization of A Pulse Width Modulator Based on Voltage Space Vector. IEEE Trans. 1998.142～150p
[35] 屈莉莉，杨振坤，杨兆华．三相电压型PWM整流器空间矢量脉宽调制研究．电工技术杂志．2002(7)．7～9页
[36] F.Profumo and A.Boglietti etc. Space Vector and Sinusoidal PWM Techniques Comparison Keeping in Account the Secondary Effects.IEEE.92.394～399p
[37] 王成元，李超，夏加宽．PC总线直线交流伺服系统的研制．电工技术，2003(10)．27～1页
[38] 段武堂，熊正明．WB系列霍尔电流传感器／变送器．传感器研究与开发，2002(3)．21～23页
[39] 曲家骐，王季秩．伺服控制系统中的传感器．北京：机械工业出版社，1999
[40] 张逸，章企，陆申龙．集成开关型霍尔传感器的特性测量和应用．大学物理实验，2000(6)．1～4页
[41] 陈国呈．PWM变频调速技术．北京：机械工业出版社，1999
[42] 唐勇奇．基于DSP和IPM的空间电压矢量法调速系统．半导体技术，2001(4)．12～14页
[43] 夏加宽，李嗥东，王成元．基于TMS320F240的全数字化交流伺服控制系统设计．电工技术杂志，2001(11)．1～3页
[44] Implementation of a Field Orietated Control of a 3-phase AC Motor with F240. TI Corp .Application Note, NO.BPRA076, 1998
[45] Clarke & Park Transforms on the TMS320C2XX. TI Corp .Application Note, NO.BPRA048, 1997
[46] 郑光华，丁轲轲．积分分离PID控制算法研究．计算机仿真．1990(3)．35～38页
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