永磁球形电机的虚拟样机建模与跟踪控制研究-控制理论与控制工程专业论文.docx

AbstractAbstractWiththelargescaleapplicationofmulti·-degree··of-freedomindustrialequipmentlikerobotsandpanoramiccamera,permanentmagneticsphericalmotor(PMSM)hasattracted wide attention by domestic and foreign experts．Because it has thecharacteristicsofsimplemechanicalstructure，highpositioningaccuracy,fastresponsespeed，effectivelyimprovethedynamicandstaticperformanceofthesystem，etc．Forthiskindofmotor,themainmodelingmethodandcorrespondingcontrolanalysisandresearcharebasedonmathematicalmethodatpresent．AsthePMSMisastrongcouplingandnonlinearsystem，themathematicsmodelingmethodalwaysexistssomeshortcomingssuchascomplicatedprocess，lowefficiencyandbigerror, etc．Withthedevelopmentofcomputersottwareinrecent years，virtualprototype technique(VPT)begantobewidelyusedinthefieldofcomplexsystemsmodeling．TheVPTis characterizedbyhighprecision，shortdevelopingperiod，strongscalability,etc．Sointhispaper,themodelingandoptimizationofPMSMwereachievedbasedonVPT,thenthedynamicanalysisandtrackingcontrolwerestudied．Specificresearchworksofthispaperareasfollows：1．Firstly,thebasicstructureandmaterialcompositionofPMSMWasbrieflyintroduced．Basedontheactualprototypeparameters，therotorofPMSMWasmodeledbyPro／Engineersoftware．2．Secondly,themodelofrotorWasimportedto theADAMSsoftwaretogeneratethevirtualprototypemodel．ThevirtualprototypemodelWasoptimizedbyaddingthegravityandthefriction，thenthedynamicanalysisWassimulatedinADAMS．3．Thirdly,inordertorealizedynamiccontrolofthevirtualprototypemodel，theCO．simulationinterfacebetweenADAMSandMATLABWasbuilt．TheCO-simulationplatformWasgeneratedbytheCO—simulationinterfaceandclawtypemotion．ThecorrespondingdynamicanalysisWassimulated．III万方数据Abstract4．Finally,inordertosolvethetrackingcontrolofpermanentmagnetsphericalrotordynamicssystem，sliding-modecontrol(SMC)anddynamicsurfacecontrol(DSC)weredesignedbasedontheCO-simulationplatform．SMCCanachievegoodcontroleffectbyeffectivelysolvingthenonlinearcouplingtermsofthedynamicsmodel．TherearesomedisadvantagesduringtheSMC，suchastoomanycon