基于XMC4500的实验转台伺服系统设计与实现-控制科学与工程专业论文.docxVIP

万方数据 万方数据 Classified Index: TP273 U.D.C.: 681.52 Dissertation for the Master’s Degree in Engineering DESIGN AND REALIZATION OF EXPERIMENTAL TURNTABLE SERVO CONTROL SYSTEM BASED ON XMC4500 Candidate： Ying Sha Supervisor： Associate Prof. Wang Yi Academic Degree Applied for： Master of Engineering Speciality： Control Science and Engineering Affiliation： School of Astronautics Date of Defence： June, 2014 Degree-Conferring-Institution： Harbin Institute of Technology 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 摘 要 转台控制的核心内容之一就是伺服控制。随着科学技术的发展，伺服相关的 各类元器件的精度和可靠性得到了提升，社会生产和科研工作中对伺服系统精度 的要求也越来越高；随着各种高性能数字控制器被广泛应用到伺服控制当中，多 种智能控制算法的工程实现也成为了可能。目前，数字控制器的运算速度越来越 快，集成度也越来越高，普遍具有丰富的外设接口，能够适应各类电机和多种传 感器。 论文以永磁直流力矩电机为驱动元件，英飞凌 XMC4500 系列芯片为核心，实 现位置和转速的伺服控制。论文首先对伺服系统进行了整体设计，完成了驱动方 式、测量元件、测速方法选取以及系统建模等内容；在硬件方面，设计了 H 桥驱 动电路、驱动保护电路及 XMC4500 外围电路；软件上，对 XMC4500 外设接口进 行寄存器配置，实现了伺服控制所需功能，得到了电机转速和位置信息，并以实 测数据验证了本文提出的改进型 M/T 测速法的准确性和有效性；完成了电流环、 转速环、位置环的参数设计，并实现了离散化和软件的设计；本文最后研究了直 流电机的迭代学习控制对波动力矩和摩擦力矩的抑制，以仿真结果验证了该方法 的有效性。 关键词： 伺服控制；XMC4500；改进型 M/T 测速；迭代学习控制；直流力矩电 机 I - Abstract Servo control is one of the core contents of turntable control. With the development of science and technology, the accuracy and reliability of all kinds of servo-related components have been improved. The requirements for the accuracy of servo system are increasing in social production and scientific research. A variety of high-performance digital controllers are widely applied to the servo control; the realization of many intelligent control algorithms has become reality. Currently, the computing speed of digital controllers becomes faster and faster, the integration level is increasing at the same time. A huge amount of them have rich peripheral interfaces and are able to be applied to all types of motors and sensors. Permanent magnet DC torque motor is chosen as the driving element and Infineon XMC4500 series chip is chosen as the core. The servo control of position and velocity is achieved. Firstly, this thesis demonstrates the o