基于DSP的电脑绣花机运动控制系统
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摘要
随着中国纺织业的迅速发展,市场对电脑绣花机的需求量越来越大,对电脑绣花机控制系统的性能要求也越来越高。
本文从电脑绣花机的控制原理出发,分析了绣花机控制系统,特别是运动控制系统的功能要求,并在此基础上提出了一套以DSP微处理器为核心的绣花机运动控制解决方案。本文的主要工作如下:
(1)介绍了电脑绣花机的发展现状,国内外的差距,根据电脑绣花机的结构和工作原理,分析了绣花机的运动控制要求。在此基础上提出了一套以TMS320F2812为控制核心的电脑绣花机运动控制解决方案。
(2)设计了电脑绣花机主轴电机和X、Y轴绣框电机控制系统。主轴电机采用矢量控制,绣框步进电机采用电流细分控制。
(3)根据电脑绣花机的结构特点,给出运动控制系统数学模型,提出步进电机微步驱动电流细分改进方法,达到任意可变细分,改善了电机的运动性能。
(4)设计并实现了电脑绣花机运动控制系统的硬件和软件。硬件包括电机驱动主电路、PWM控制电路、驱动电路、各种保护电路及通讯模块和人机接口等,软件编写时采用了模块化的思想,便于程序的修改和移植。
(5)对控制系统进行了实验研究,测试了各模块的性能,实验结果表明系统具有良好的控制效果,也验证了系统的实用性。
As a result of the rapid developments of the textile industry in China, the market quantity demands of the computer embroidery machine is in a state of rapid increasing, and meanwhile the performance requirements of the computer embroidery machine control system are becoming higher.
Based on the control principles of the computer embroidery machine, the control system, especially, the function requirements of the motion control system are analyzed in detail in this thesis. Based upon these analyses, an effective motion control scheme is proposed for the embroidery machine based on the DSP microprocessor which is behaved as a main controller in the system. The main work and contribution of this thesis are as follows:
(1) The current developments state of the computer embroidery machine is introduced. The motion control requirements of the embroidery machine are analyzed according to its structures and working principles. An effective motion control scheme is proposed for the embroidery machine based on these detailed analyses, and in the developed control system, the TMS320F2812 was adopted as the main controller.
(2) The control system of backbone axis motor and X、Y axis frame motors are designed. The vector control approach is used to drive the backbone axis motor, while the frame motors adopt the micro-stepping control scheme.
(3) Mathematical model of the motion control system are presented based on the computer embroidery machine characteristics. The scheme of the micro-stepping control is improved to achieve the desired arbitrary subdivision, and thus the motion performance and the flexibility of the control strategy is improved.
(4) The hardware and software of the motion control system for the embroidery machine are designed. The hardware includes the main motor driving circuit, the PWM control circuit, driving circuit, various protection circuits and the communications modules and man-machine interface, etc. The modularization design is adopted in software design, so that it can be amended and replanted conveniently.
(5) Various experiments studies are carried out and the performance of the modules is measured. The experiment results have demonstrated that the developed system achieves desired control performance and have also validated the practicability of the systems.
本文从电脑绣花机的控制原理出发,分析了绣花机控制系统,特别是运动控制系统的功能要求,并在此基础上提出了一套以DSP微处理器为核心的绣花机运动控制解决方案。本文的主要工作如下:
(1)介绍了电脑绣花机的发展现状,国内外的差距,根据电脑绣花机的结构和工作原理,分析了绣花机的运动控制要求。在此基础上提出了一套以TMS320F2812为控制核心的电脑绣花机运动控制解决方案。
(2)设计了电脑绣花机主轴电机和X、Y轴绣框电机控制系统。主轴电机采用矢量控制,绣框步进电机采用电流细分控制。
(3)根据电脑绣花机的结构特点,给出运动控制系统数学模型,提出步进电机微步驱动电流细分改进方法,达到任意可变细分,改善了电机的运动性能。
(4)设计并实现了电脑绣花机运动控制系统的硬件和软件。硬件包括电机驱动主电路、PWM控制电路、驱动电路、各种保护电路及通讯模块和人机接口等,软件编写时采用了模块化的思想,便于程序的修改和移植。
(5)对控制系统进行了实验研究,测试了各模块的性能,实验结果表明系统具有良好的控制效果,也验证了系统的实用性。
As a result of the rapid developments of the textile industry in China, the market quantity demands of the computer embroidery machine is in a state of rapid increasing, and meanwhile the performance requirements of the computer embroidery machine control system are becoming higher.
Based on the control principles of the computer embroidery machine, the control system, especially, the function requirements of the motion control system are analyzed in detail in this thesis. Based upon these analyses, an effective motion control scheme is proposed for the embroidery machine based on the DSP microprocessor which is behaved as a main controller in the system. The main work and contribution of this thesis are as follows:
(1) The current developments state of the computer embroidery machine is introduced. The motion control requirements of the embroidery machine are analyzed according to its structures and working principles. An effective motion control scheme is proposed for the embroidery machine based on these detailed analyses, and in the developed control system, the TMS320F2812 was adopted as the main controller.
(2) The control system of backbone axis motor and X、Y axis frame motors are designed. The vector control approach is used to drive the backbone axis motor, while the frame motors adopt the micro-stepping control scheme.
(3) Mathematical model of the motion control system are presented based on the computer embroidery machine characteristics. The scheme of the micro-stepping control is improved to achieve the desired arbitrary subdivision, and thus the motion performance and the flexibility of the control strategy is improved.
(4) The hardware and software of the motion control system for the embroidery machine are designed. The hardware includes the main motor driving circuit, the PWM control circuit, driving circuit, various protection circuits and the communications modules and man-machine interface, etc. The modularization design is adopted in software design, so that it can be amended and replanted conveniently.
(5) Various experiments studies are carried out and the performance of the modules is measured. The experiment results have demonstrated that the developed system achieves desired control performance and have also validated the practicability of the systems.
引文
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[2]李崇坚.交流同步调速系统[M].北京:科学出版社,2006
[3]王兆安,黄俊.电力电子技术[M].机械工业出版社,2003
[4]黄安成.基于ARM和CPLD的电脑绣花机控制器的设计[D].浙江大学硕士学位论文,2006
[5]黄文涛.国产绣花机能否再创神话[J].中外缝制设备,2004(6):7-1
[6]方千山.变频调速取代滑差电机的可行性[J].水泥技术,1997(2):17-18
[7]彭侠夫,叶瑰昀.滑差电机数学模型的建立方法及应用[J].黑龙江电力技术,1996,18(4):193-196
[8]张颖.步进电机与交流伺服电机性能对比分析[J].农机化研究,2004,36(3):98
[9]张卫宁 编译.TMS320C28X系列DSP的CPU与外设(上)、(下)[M].清华大学出版社,2005
[10]李志民,张遇杰.同步电动机调速系统[M].机械工业出版社,2001
[11]刘滏,罗惠琼.CAN总线综述[J].福建电脑,2006(4):26-28
[12]纪洪明.基于DSP的全数字PMSM伺服系统的研究[D].哈尔滨工业大学硕士学位论文,2005
[13]阮毅,陈维钧.运动控制系统[M].北京:清华大学出版社.2006
[14]熊珍凯,任作新.基于W77E58的电脑绣花机控制系统[J],自动化技术与应用,2005,24(10):71-72
[15]刁红泉,颜钢锋.电脑绣花机控制系统整体设计方案[J].工程设计学报,2003,10(4):188-191
[16]殷厚城.电脑混合绣嵌入式控制系统的研制[D].华中科技大学硕士学位论文,2004
[17]黄安成,颜钢锋.基于DSP的电脑绣花机控制系统设计[J].江南大学学报,2007,6(1):60-63
[18]戈挺克.基于DSP的电脑绣花机控制系统[D].浙江大学硕士学位论文,2004
[19]贾智贤.电脑绣花机电控器的设计[D].大连理工大学硕士学位论文,2005
[20]Fumio H..Power Electronics and Motion Control- A Future Perspective[J].Proc.of the IEEE,1994,82(8):1107-1111
[21]Thomas M.Jahns.Motion Control with Permanent-Magnet AC Machines[J].Proc.of the IEEE,1994,82(8):1241-1252
[22]陈荣.基于增量式光电编码盘的永磁同步电机转子位置初始定位[J].电机与控制应用,2007,34(3):32-34
[23]暨绵浩,永磁同步电动机及其调速系统综述和展望[J],微特电机,2007(3):49-52
[24]乔英辉,永磁同步电机位置伺服系统[J],上海大中型电机,2003(2):44-46
[25]陈益广,杨博,沈勇环,谷鑫.基于模糊PI控制具有升压电路的永磁同步电机调速系统[J].天津大学学报,2006,39(8):932-937
[26]Jiunn-Jiang Chen,Kan-Ping Chin.Minimum copper loss flux-weaking control of surface mounted permanent magnet synchronous motors[J].Power Electronics,April 2003:929-936
[27]吴东苏.全数字化永磁同步电机伺服驱动器的研究[D].华中科技大学硕士学位论文,2002
[28]唐任远.现代永磁电机的理论与设计[M].机械工业出版社,1997
[29]陈伯时.交流调速系统[M].机械工业出版社,1998
[30]陈力新,王新英.基于DSP的全数字化预测电流控制系统[J].长沙电力学院学报,2001,1(16):56-60
[31]Ahmet M.Hava,Russel J.Kerkman,Thomas A,Lipo.A high-performance generalized discontinuous PWM algorithm[J].IEEE Trans.Ind.Applicat.,1998,34(5):1059-1071
[32]Vikram Kaura,Vlandimir Blasko.A new method to extend linearity of a sinusoidal PWM in the overmodulation region[J].IEEE Trans.Ind.Applicat.,1996,32(5):1115-1121
[33]盖廓,万健如,许镇琳,孙凯.高性能永磁同步电机位置伺服系统建模与仿真[J].计算机仿真,2007,24(5):311-315
[34]林益平.基于矢量控制的PMSM高性能伺服系统设计[J].电力电子技术,2007,41(3):15-16
[35]Ahmet M.Hava,Seung-Ki Sul,Russel J.Kerkman,Thomas A.Lipo.Dynamic overmodulation characteristics of triangle intersection PWM methods[J].IEEE Trans.Ind.Applicat.,1999,35(4):896-907
[36]孙凯,许镇琳,盖廓等.基于自抗扰控制器的永磁同步电机位置伺服系统[J].中国电机工程学报,2007,27(15):43-46
[37]董健,张耀明,邹丽新,雷凯.基于电流矢量恒幅均匀旋转的步进电机细分控制及光学检测技术[J].测控技术与设备,2003,29(6):25-27
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