基于直线电机的经编机电子横移控制系统
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摘要
经编工业是纺织工业的一个重要组成部分,经编产业的快速发展推动了经编机设备制造技术的不断更新。开发和研制出技术含量高、生产效率高、可靠性高的高档智能化经编机,其核心技术是需要经编机梳栉横移运动精度高。目前,国内大部分经编机横移机构都是传统的机械式横移机构,已经不能满足市场的需求。因此,新型经编机电子横移控制系统已成为纺织行业急需研究的领域。直线电机作为一种利用电能直接驱动机械负载作直线运动的电子机械装置,它所具有的突出优点已使其越来越受到人们的重视。本文以三相永磁无刷直流直线电机及驱动控制系统为主要研究对象,研究了一种基于直线电机的新型经编机横移运动控制系统。
首先,本文对经编机的基本结构及发展做了一个简要的介绍。通过综合比较目前几种经编机横移机构的优缺点之后,研究了一种基于直线电机直接驱动梳栉的经编机电子横移机构。然后,本文对直流无刷电机的基本结构、基本工作原理、运行特性和应用作了详细的介绍,分析了其数学模型及其典型控制策略,并重点阐述了模糊自适应PID控制算法的原理及实现。在此基础上,设计了基于数字信号处理器(DSP)的无刷直流直线电机控制系统。文中给出了系统的总体设计方案及系统控制框图。接下来,本文阐述了该系统硬件电路的设计及实现。分别从DSP最小系统电路、直线电机驱动电路、位置检测电路等做了重点研究。另外,本文给出了系统软件部分设计流程图,对各软件模块也做了相应叙述。最后,通过实验测试得到系统的整体参数及结论,并对后续的工作做了进一步的展望。
采用直线电机直接驱动经编机梳栉的电子横移系统,具有非常显著的优点。以光栅尺为位置检测传感器并结合模糊自适应PID控制算法的DSP系统能够实现对直线电机的高精度、快响应及高稳定性控制。
The warp knitting industry is an important part of the textile industry, whose rapid development promotes the renovation of technology of the warp knitting machine.The core technology that develops a top grade intelligent warp knitting machine of high technology, high productivity, and high reliability is a highly precisive shogging system of guide bar. Nowadays, the most widely used domestic warp knitting machine is the traditional mechanical warp knitting machine, which no longer meets the market needs.
The linear motor, a directly generate linear movement electronic machine which can directly drive loads to implement linear movement, has been attaches more and more importance because of its outstanding advantages. Based on a three-phase permanent magnet blushless linear DC motor and driving syetem, this paper studies a electronic shogging motion control system of warp knitting machine.
First of all, there is a brief introduction about the basic structure and development of warp knitting machine. Having comprehensive comparing several shogging syetem of warp knitting machine, this paper designs an electronic shogging motion control syetem of warp knitting machine.Then, there is an elaborate introduction about the basic structure, working principles, operating characteristics, mathematical model, applications and typical control strategy of linear motor. Focused on the principle and realization of fuzzy adaptive PID control algorithm, this paper designs a linear motor control system based on digtal signal processor (DSP), and also reveals an overall design and control framework. What is more, this paper descripts the hardware circuit design and realization, which includes DSP system, linear motor driving circuit, position detection circuit. In addition,the software flow charts and module have been introduced. Finally, this paper intrduces the prospect of further work based on the system parameter and conclusion which obtains from experimental tests.
The new electronic shogging motion control system has significant advantages,which adopts linear motor as the guid bar shogging system.The DSP control system, combined grating position detection sensor with the fuzzy adaptive PID control algorithm, can achieve high-precision , fast response and high stability control to linear motor .
首先,本文对经编机的基本结构及发展做了一个简要的介绍。通过综合比较目前几种经编机横移机构的优缺点之后,研究了一种基于直线电机直接驱动梳栉的经编机电子横移机构。然后,本文对直流无刷电机的基本结构、基本工作原理、运行特性和应用作了详细的介绍,分析了其数学模型及其典型控制策略,并重点阐述了模糊自适应PID控制算法的原理及实现。在此基础上,设计了基于数字信号处理器(DSP)的无刷直流直线电机控制系统。文中给出了系统的总体设计方案及系统控制框图。接下来,本文阐述了该系统硬件电路的设计及实现。分别从DSP最小系统电路、直线电机驱动电路、位置检测电路等做了重点研究。另外,本文给出了系统软件部分设计流程图,对各软件模块也做了相应叙述。最后,通过实验测试得到系统的整体参数及结论,并对后续的工作做了进一步的展望。
采用直线电机直接驱动经编机梳栉的电子横移系统,具有非常显著的优点。以光栅尺为位置检测传感器并结合模糊自适应PID控制算法的DSP系统能够实现对直线电机的高精度、快响应及高稳定性控制。
The warp knitting industry is an important part of the textile industry, whose rapid development promotes the renovation of technology of the warp knitting machine.The core technology that develops a top grade intelligent warp knitting machine of high technology, high productivity, and high reliability is a highly precisive shogging system of guide bar. Nowadays, the most widely used domestic warp knitting machine is the traditional mechanical warp knitting machine, which no longer meets the market needs.
The linear motor, a directly generate linear movement electronic machine which can directly drive loads to implement linear movement, has been attaches more and more importance because of its outstanding advantages. Based on a three-phase permanent magnet blushless linear DC motor and driving syetem, this paper studies a electronic shogging motion control system of warp knitting machine.
First of all, there is a brief introduction about the basic structure and development of warp knitting machine. Having comprehensive comparing several shogging syetem of warp knitting machine, this paper designs an electronic shogging motion control syetem of warp knitting machine.Then, there is an elaborate introduction about the basic structure, working principles, operating characteristics, mathematical model, applications and typical control strategy of linear motor. Focused on the principle and realization of fuzzy adaptive PID control algorithm, this paper designs a linear motor control system based on digtal signal processor (DSP), and also reveals an overall design and control framework. What is more, this paper descripts the hardware circuit design and realization, which includes DSP system, linear motor driving circuit, position detection circuit. In addition,the software flow charts and module have been introduced. Finally, this paper intrduces the prospect of further work based on the system parameter and conclusion which obtains from experimental tests.
The new electronic shogging motion control system has significant advantages,which adopts linear motor as the guid bar shogging system.The DSP control system, combined grating position detection sensor with the fuzzy adaptive PID control algorithm, can achieve high-precision , fast response and high stability control to linear motor .
引文
[1]中国纺织网[EB/OL] www.texnet.com.cn.
[2]王道兴.实用经编论文选[M].北京:中国纺织出版社.2006,7.
[3]郑伟.基于微机的多梳栉经编机的研究[D].福州:福州大学.2002,12.
[4]蒋高明.现代经编技术进展(一)[J].上海:上海纺织科技.2005,7.
[5]蒋高明.现代经编产品设计与工艺[M] .北京:中国纺织出版社,2003.
[6]蒋高明.现代经编工艺与设备[M].北京:中国纺织出版社,2001.
[7]卡尔迈耶纺织机械-经编织物[EB/OL] www.karlmayer.com.
[8]沈雷.针织工艺学(经编分册)[M].北京:中国纺织出版社,2000,6.
[9] Karl Mayer company, New Mechalronic Solutions On Lace Rachel Manchines[J].Kettenwirk Praxis.2004(1):6-8.
[10] Karl Mayer company.The EL electronic guide bar control system.Kettenwirk Praxis,19950):21-22.
[11]郭俊华,蒋高明,夏风林基于伺服控制经编机电子横移系统的研究[J].针织工业.2007,5 NO.5
[12]李永虎,夏风林,蒋高明.基于DSP的经编机电子横移系统探讨.纺织导报2009NO.2 72-73.
[13]蒋高明,夏风林,丛洪莲.一种直线伺服电机驱动的经编机梳栉横移装置[P].中国专利, 200710023251,2007,11.
[14] De-Jun Li and Le-Ping Xu. The Design for Warp Knitting Machine Traversing Control System Based on DSP[A]. 2009 International Conference on Computational Intelligence and Security. 2009, 11.
[15]叶云岳.直线电机原理与应用[M].北京:机械工业出版社,2000,1.
[16]杨正新.直接驱动的发展与未来[J].中国机械工程,2000,11(10):1180-1182
[17]山田一.工业用直线电动机[M].北京::新时代出版社,1986.
[18]山田一.直线电机及其应用技术[M].湖南:湖南科技出版社,1979.
[19]周惠兴.制造系统直线伺服单元的研究与应用[D].北京:清华大学,1998.
[20]杨大伟.直线电机应用概况及发展动态[M].电子机械工程,1998,1(5):1-4.
[21]张春良,陈子辰.直线驱动新技术及其在加工装备上的应用.电工技术学报,2002, 17(5).
[22]刘璐.基于直线电机的精密位置伺服控制系统研究[D] .哈尔滨:哈尔滨工业大学,2006,6.
[23]王耀南,孙炜.智能控制理论及应用[M].北京:机械工业出版社,2008.2 ,4-8.
[24]艾武,程立,杜志强等.基于DSP的直线电机位置检测与控制技术[M].机械与电子,2004(2):29-32.
[25] Guo QingDing, Wang Limei, Luo Ruifu. Robust Fuzzy Variable Structure Control of PMLSM Servo System. IEEE International Conference on Intelligent Proceedings Systems. 1997,PP.675-679.
[26]李士勇.模糊控制、神经控制和智能控制理论[M].哈尔滨:哈尔滨工业大学出版社,1992.
[27] Jang-Hwan Kim, Jong-Woo Choi, Seng-Ki Sul. High precision position of linear permanent magnet synchronous motor for surface mount device placement system. Power Conversion Conference, 2002, 1(1):37-42.
[28]范海民,陈宏礼.基于Smith预估计器的直线电机控制系统[J].应用科技,2002, 29(5): 27-29.
[29] Depenbrock M.. Direct self-control (DSC) of inverter-fed induction machine. IEEE Transactions on Power Electronics, 1988, 3(4):420-429.
[30] Kuo K,Hsinjang S H,Shengshang F. Model reference Adaptive speed control for induction motor drive using neural networks.IEEE Trans.Ind.Electron,1998,103(2):32—39.
[31]郭庆鼎,唐光谱.基于解耦控制的同步传动技术的应用研究[J].控制与决策,2001,16(1):72-75.
[32] J.Hu,M.D Leviner,D.M Dawson,Vedagarbha.An Adaptive Tracking Controller for Multiple—Phase Permanent—Magnet Machines.INT.J.Contr01.1996,64(6):997—1022.
[33]徐丽娜.神经网络控制[M].北京:电子工业出版社.2003.7.
[34] Faa-Jeng Lin, Chih-Hong Lin. On -line gain tuning using RFNN for linear synchronous motor. Power Electronics Specialists Conference, 2001,2: 766-771.
[35] Faa-Jeng Lin, Wen-Der Chou, Chih-Hong Lin. Adaptive Hybrid control using recurrent neural network for linear synchronous motor servo drive system. Canadian Conference on Volume1,13一16 May 2001 Page(s):643一648 vol.l.
[36]陶永华主编.新型PID控制及应用[M].北京:机械工业出版社,2002.
[37]刘金琨.先进PID控制及MATLAB仿真[M].北京:电子工业出版社,2004.
[38]韩力群.智能控制理论及应用[M].北京:机械工业出版社.2008,1.
[39] Tan Guanzheng, Zeng Qingdong, Li Wenbin. Design of PID controller with incomplete derivation based on ant system algorithm. Journal of Control Theory and Applications, 2004, 3: 246~252.
[40] Antonio Visioli. A new design for a PID plus feedforward controller. Elsevier Journal of Process Control, 2004, 14: 457~463.
[41]韩安太,刘飞,黄海. DSP控制器原理及其在运动控制系统中的应用[M].北京:清华大学出版社.2003.
[42]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社.2005,3.
[43] Wei Z. H, Schinstock DE. Feedforward control strategies for tracking performance in machine axes. Chinese Journal of Mechanical Engineering, 2005, 18(1): 5~9
[44] Van Den Braembussche P, Swevers J, Van Brussel H, Vanherck P. Accurate tracking control of linear synchronous motor machine tool axes. Elsevier Journal of Mechatronics,1996, 6(5): 507~521.
[45] Zhoughong Wei. Control design for tracking performance in machine servo systems.PhD Dissertation, USA, University of Tulsa, 2001.
[46] Texas Instruments, Incorporated.TMS320F28x DSP CPU and Instruction Set Reference Guide.2003,10
[47] Texas Instruments, Incorporated[SPRU060,A].TMS320F28x Analog to Digital Converter (ADC) Reference Guide.2003,8.
[48] Texas Instruments, Incorporated. TMS320F28x Serial Communications Interface (SCI) Reference Guide (Rev. A).
[49]王晓明,王玲.电动机的DSP控制—TI公司DSP应用[M].北京:北京航空航天大学出版社.2004,7.
[50]周志敏,周纪海,纪爱华.IGBT和IPM及其应用电路[M].北京:人民邮电出版社.2006,3.
[51] Texas Instruments, Incorporated. TMS320F28x Event Manager (EV) Reference Guide (Rev. A), 2003,6.
[52]艾武,程立,杜志强等.基于DSP的短行程直线电机位置控制[J].伺服控制,2005(3)
[53] Code Composer Studio Getting Started Guide (Rev. D) Texas Instruments, Incorporated 2003,8.
[54] Texas Instruments, Incorporated. TMS320C28x Optimizing C/C++ Compiler User's Guide 2001,8.
[55]汪安民.DSP应用开发实用子程序[M].人民邮电出版社.2005,3.
[56]苏奎峰,吕强,常天庆等.TMS320X281X-DSP原理及C程序开发[M].北京:北京航空航天大学出版社.2008,2.
[2]王道兴.实用经编论文选[M].北京:中国纺织出版社.2006,7.
[3]郑伟.基于微机的多梳栉经编机的研究[D].福州:福州大学.2002,12.
[4]蒋高明.现代经编技术进展(一)[J].上海:上海纺织科技.2005,7.
[5]蒋高明.现代经编产品设计与工艺[M] .北京:中国纺织出版社,2003.
[6]蒋高明.现代经编工艺与设备[M].北京:中国纺织出版社,2001.
[7]卡尔迈耶纺织机械-经编织物[EB/OL] www.karlmayer.com.
[8]沈雷.针织工艺学(经编分册)[M].北京:中国纺织出版社,2000,6.
[9] Karl Mayer company, New Mechalronic Solutions On Lace Rachel Manchines[J].Kettenwirk Praxis.2004(1):6-8.
[10] Karl Mayer company.The EL electronic guide bar control system.Kettenwirk Praxis,19950):21-22.
[11]郭俊华,蒋高明,夏风林基于伺服控制经编机电子横移系统的研究[J].针织工业.2007,5 NO.5
[12]李永虎,夏风林,蒋高明.基于DSP的经编机电子横移系统探讨.纺织导报2009NO.2 72-73.
[13]蒋高明,夏风林,丛洪莲.一种直线伺服电机驱动的经编机梳栉横移装置[P].中国专利, 200710023251,2007,11.
[14] De-Jun Li and Le-Ping Xu. The Design for Warp Knitting Machine Traversing Control System Based on DSP[A]. 2009 International Conference on Computational Intelligence and Security. 2009, 11.
[15]叶云岳.直线电机原理与应用[M].北京:机械工业出版社,2000,1.
[16]杨正新.直接驱动的发展与未来[J].中国机械工程,2000,11(10):1180-1182
[17]山田一.工业用直线电动机[M].北京::新时代出版社,1986.
[18]山田一.直线电机及其应用技术[M].湖南:湖南科技出版社,1979.
[19]周惠兴.制造系统直线伺服单元的研究与应用[D].北京:清华大学,1998.
[20]杨大伟.直线电机应用概况及发展动态[M].电子机械工程,1998,1(5):1-4.
[21]张春良,陈子辰.直线驱动新技术及其在加工装备上的应用.电工技术学报,2002, 17(5).
[22]刘璐.基于直线电机的精密位置伺服控制系统研究[D] .哈尔滨:哈尔滨工业大学,2006,6.
[23]王耀南,孙炜.智能控制理论及应用[M].北京:机械工业出版社,2008.2 ,4-8.
[24]艾武,程立,杜志强等.基于DSP的直线电机位置检测与控制技术[M].机械与电子,2004(2):29-32.
[25] Guo QingDing, Wang Limei, Luo Ruifu. Robust Fuzzy Variable Structure Control of PMLSM Servo System. IEEE International Conference on Intelligent Proceedings Systems. 1997,PP.675-679.
[26]李士勇.模糊控制、神经控制和智能控制理论[M].哈尔滨:哈尔滨工业大学出版社,1992.
[27] Jang-Hwan Kim, Jong-Woo Choi, Seng-Ki Sul. High precision position of linear permanent magnet synchronous motor for surface mount device placement system. Power Conversion Conference, 2002, 1(1):37-42.
[28]范海民,陈宏礼.基于Smith预估计器的直线电机控制系统[J].应用科技,2002, 29(5): 27-29.
[29] Depenbrock M.. Direct self-control (DSC) of inverter-fed induction machine. IEEE Transactions on Power Electronics, 1988, 3(4):420-429.
[30] Kuo K,Hsinjang S H,Shengshang F. Model reference Adaptive speed control for induction motor drive using neural networks.IEEE Trans.Ind.Electron,1998,103(2):32—39.
[31]郭庆鼎,唐光谱.基于解耦控制的同步传动技术的应用研究[J].控制与决策,2001,16(1):72-75.
[32] J.Hu,M.D Leviner,D.M Dawson,Vedagarbha.An Adaptive Tracking Controller for Multiple—Phase Permanent—Magnet Machines.INT.J.Contr01.1996,64(6):997—1022.
[33]徐丽娜.神经网络控制[M].北京:电子工业出版社.2003.7.
[34] Faa-Jeng Lin, Chih-Hong Lin. On -line gain tuning using RFNN for linear synchronous motor. Power Electronics Specialists Conference, 2001,2: 766-771.
[35] Faa-Jeng Lin, Wen-Der Chou, Chih-Hong Lin. Adaptive Hybrid control using recurrent neural network for linear synchronous motor servo drive system. Canadian Conference on Volume1,13一16 May 2001 Page(s):643一648 vol.l.
[36]陶永华主编.新型PID控制及应用[M].北京:机械工业出版社,2002.
[37]刘金琨.先进PID控制及MATLAB仿真[M].北京:电子工业出版社,2004.
[38]韩力群.智能控制理论及应用[M].北京:机械工业出版社.2008,1.
[39] Tan Guanzheng, Zeng Qingdong, Li Wenbin. Design of PID controller with incomplete derivation based on ant system algorithm. Journal of Control Theory and Applications, 2004, 3: 246~252.
[40] Antonio Visioli. A new design for a PID plus feedforward controller. Elsevier Journal of Process Control, 2004, 14: 457~463.
[41]韩安太,刘飞,黄海. DSP控制器原理及其在运动控制系统中的应用[M].北京:清华大学出版社.2003.
[42]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社.2005,3.
[43] Wei Z. H, Schinstock DE. Feedforward control strategies for tracking performance in machine axes. Chinese Journal of Mechanical Engineering, 2005, 18(1): 5~9
[44] Van Den Braembussche P, Swevers J, Van Brussel H, Vanherck P. Accurate tracking control of linear synchronous motor machine tool axes. Elsevier Journal of Mechatronics,1996, 6(5): 507~521.
[45] Zhoughong Wei. Control design for tracking performance in machine servo systems.PhD Dissertation, USA, University of Tulsa, 2001.
[46] Texas Instruments, Incorporated.TMS320F28x DSP CPU and Instruction Set Reference Guide.2003,10
[47] Texas Instruments, Incorporated[SPRU060,A].TMS320F28x Analog to Digital Converter (ADC) Reference Guide.2003,8.
[48] Texas Instruments, Incorporated. TMS320F28x Serial Communications Interface (SCI) Reference Guide (Rev. A).
[49]王晓明,王玲.电动机的DSP控制—TI公司DSP应用[M].北京:北京航空航天大学出版社.2004,7.
[50]周志敏,周纪海,纪爱华.IGBT和IPM及其应用电路[M].北京:人民邮电出版社.2006,3.
[51] Texas Instruments, Incorporated. TMS320F28x Event Manager (EV) Reference Guide (Rev. A), 2003,6.
[52]艾武,程立,杜志强等.基于DSP的短行程直线电机位置控制[J].伺服控制,2005(3)
[53] Code Composer Studio Getting Started Guide (Rev. D) Texas Instruments, Incorporated 2003,8.
[54] Texas Instruments, Incorporated. TMS320C28x Optimizing C/C++ Compiler User's Guide 2001,8.
[55]汪安民.DSP应用开发实用子程序[M].人民邮电出版社.2005,3.
[56]苏奎峰,吕强,常天庆等.TMS320X281X-DSP原理及C程序开发[M].北京:北京航空航天大学出版社.2008,2.