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上海交通大学硕士学位论文运动控制系统及其在机床数控化改造中的应用与研究姓名：王德斌申请学位级别：硕士专业：控制工程指导教师：翁正新;俞兴明20071206I,,,,IIPIDPIDPIDABSTRACTIIIMotionControlSystemandItsApplicationstoNCRetrofitofTraditionalMachineToolsABSTRACTMotioncontrol,originatedfromtheearlyelectricdrivecontrol,hasbeenevolvedintoanintegratedmulti-disciplinesinteractingtechnologywiththedevelopmentofmotorcontrol,sensor,powerelectronics,automaticcontrolandmicroprocessing.Inthecurrentautomationtechnologies,motioncontrolrepresentsthemostcomplicatedtaskwiththebroadestapplications.Servo-controlsystems,asanessentialcomponentoftheNCsystems,belongtothemotioncontrolsystemstosomeextent.Alternatingcurrentservosystemsisanimportantresearchdirection,andrepresentsthetrendsofthedevelopmentofcurrenttechnologies.Themaincontributionofthispaperisasfollow:1.ProposedaschemeforNCretrofitoftraditionalmillingmachine.EconomicandapplicableNCretrofitofthetraditionalmachineriesisapressingtaskinthepresentand/orinthefuture,owingtothesolefunctionoftraditionalmachineries,complexityofthemechanicaltransmissionsystems,lowstability,lowaccuracy,heavyworkloadinfaultmaintenanceandlowproductivity.ThispaperproposedaschemeforNCretrofitoftraditionalmillingmachine.ThemotioncontrolofmachinetoolsisrealizedbyconnectingspecialNCsystemwiththeservo-controlsystem.ThefunctionsoftheretrofittedNCmillingmachineareexpended,andtheaccuracyofthesystemisimprovedsignificantly.Inthemeantime,theproductivityofmachinetoolsisimproved,theintensityoflaborisreduced,thecostonnewequipmentsissaved,andthefaultofequipmentsisreduced.TheNCretrofitoftraditionalmachinetoolsiseconomicalandefficient,andisgoodwayforABSTRACTIVtheenterprisestocarryouttechnologyrenovation.2.ServosystemisamajorcomponentoftheNCmachinetools,whosefineperformanceisthefoundationandsignificantguaranteefortheNCmachinetoolstorealizetheprocessinginhighspeedandhighaccuracy.Basedonanalyzingthecomponentsandcontroloftheservo-systemoftheNCmachinetools,thispaperstudiesthemethodsforsettingparametersineachlooptoguaranteetheperformanceofthemachinetools.3.Performancerequirementsoftheservo-controlsystemintheNCmachinetoolsmainlyincludetheaccuracyofthesteadystate,stabilityandswiftnessofthedynamicresponse,androbustnesstothevaryingparametersanduncertaindisturbance.Highperformancecanbeachievedthroughtheselectionofactuators,sensors,andcontrolstrategies.Thestudyandapplicationofadvancedcontrolstrategiesisveryimportanttotheimprovementoftheperformanceofsystems.Inthispaper,weanalyzeandcomparethePIDcontrolandcompoundcontrol.Theperformanceofthecontrolstrategiesisstudiedthroughsimulation,whichprovidesaguidelineforthepracticalapplications.Furthermore,thispaperalsoexplorestheapplicationoftheintelligentcontroltheorytotheservosystemofmachinetools.AfuzzyPIDcontrollerisdesignedforthepositioncontrolofmachinetools.Simulationresultsshowthatadvancedcontroltheorycanimprovethesteady-stateaccuracyandthedynamicperformanceofthesystem.Keyword:NCmachinetool,Retrofitofmillingmachine,ACServosystem,PIDcontrol,Fuzzycontrol20081302008130200813011.1FMSCIMS[1][2]25%50%10%FMSCIMSIMS[3]2[4]1.21988MOTIONCONTROL[5][6]1.331952CNCPLC/[7][8]1-11-1Fig.1-1BlockDiagramofCNCCNCPLC//PLCCNCPLCCNCCNCPLCCAD/CAM4NC[9]1.4[10][11](1)100001(2)(3)(4)CNC(5)(6)(7)1.5:,,,[3][12]1)2)5PIDPIDPIDPIDPID[13][14]1.625%[15]:,:1.6.1()()637()()()()()1.6.21.802.3.904.41234[16]71.6.3:CNCCNCCNC:()60%80%1/3()()()()[17]1.78PMSMPMSM:1)2)3)4PID5MATLAB92.1CNCRoboticsPC[6]12310(1)(2)(3)1:10000(4)(5)102.220802-12-1Fig.2-1BasicArchitectureofMotionControlSystem2.319801911123[18][19]2.4122.4.113DSPCPU[21]2.4.2[22]1142ε∆)/(maxmaxpkv=εmaxvεε∆/maxε∆εεε∆=∆≥pKvDmaxmax(2-1)maxvε∆pK3pKε∆maxvD412kg152.516[23]3.13.1.1Makino-X----800mmY---500mmZ---350mmXYZ---7mmXYZ---1400/---7/XYZ---10/---5/20XYZ---2KWY112M44KW1440/3.1.2Makino17X/Y/ZPCCAM3.23.2.1,PCPC,[24]1PCNCFANUC16iSIEMEM840DIPCNC2NCPC+PCPCCPUPCWINDOWSPCCNCDELTATAU90PMAC18DELTATAUNGCOMACPCPMACPMAC3CNCI/O,,CNC,,,PCK100MKND100MXYZCNCXYZK100M3-1193-1K100MFig.3-1K100MCNCSystemconnectedwithACServoSystem3.2.2,CNC[25][26],()20,,,,,()()3-23-2Fig.3-2ArchitectureofSemiCloseLoopCNCSystem21CNCNn:θπ=2Nn(rad)CNCD/AD/AD/A3-3BR3-3Fig.3-3ArchitectureofPositionControlSystem(1)(2)D/A22D/A[27]VVVF101BDCMPMSMPMSMXYZMITSUBISHIHC-SFE2022KW,2000/XYZMITSUBISHI2KWMR-J2S-200AMELSERVO-J2-SUPERRS232CRS-422500kpps131072/23VDC10~0±VDC8~0±3-43-4Fig.3-4BlockDiagramofCNCServoSystemCNC3-53.3243-5Fig.3-5SchematicDiagramofUpgradedMillingMachine25X----800mmY----500mmZ----350mmXYZ----7mmXY----13.125/Z----8.8/XYZ----0.5/XYZ----2KWY112M44KW1440/3-63-6Fig.3-6UpgradedMillingMachine3.426274.14.24.2.1PWMPMSM4-1IGBTPWM28PID4-1Fig.4-1SchematicDiagramofACServoSystem4.2.21971Blaschke[28]29UVW[30]123dq90dqo4-24-24-3Fig.4-2AxisAnalysisforPMSMFig.4-3VectorAnalysisforPMSM1abcdqo+−+−=WVUqdiiirrrrrrii)3/2sin()3/2sin(sin)3/2cos()3/2cos(cos32πθπθθπθπθθ30+−+−=WqduuurrrrrruuVU)3/2sin()3/2sin(sin)3/2cos()3/2cos(cos32πθπθθπθπθθrθUddqo4-3qddaddqqaqpiRupiRuΨ⋅−Ψ+⋅=Ψ⋅+Ψ+⋅=11ωω(4-1)2dqfdddqqqiLiLΨ+=Ψ=Ψ(4-2)dudidquqiqaRp1ωdqofΨdLqLdqσLLLLLLaqqcadd+=+=(4-