基于光学传感器的永磁球形电机转子位置检测研究-控制工程专业论文.docxVIP

研究生优秀毕业论文 AbstractThe Abstract The problem of rotor position detection for permanent magnet spherical motor(PMSM)is studied in this paper．The main work of the paper is as follows： 1．The structure and the dynamic model of permanent magnet spherical motor is analyzed，and the description method of rotor position is studied． 2．A new method for measuring the rotor position based on single optical sensor is proposed in this paper,instead of the measuring method based on double optical sensors．And the two kinds of measuring methods are simulated and compared． 3．The closed-loop control of PMSM is simulated．The location and speed detected are feedback to the front of the control system，to compared with the given position and velocity．The deviation is applied to control the system，getting the real-time tracking error for location and speed of the closed-loop system．This method makes the output shaft of the rotor working on the desired trajectory,and to realize hi曲precision trajectory tracking contr01． The work of the paper is supported by the National Natural Science Foundation of China(5 1 1 0077 1，5 1 3 0700 1)，the Natural Science Foundation of Anhui Province (1 308085QE82)，and the National Science Research Key Program of Anhui Provincial Education Department(KJ20 1 3A0 1 2)． Keywords：permanent magnet spherical motor，position detection，closed—loop control II 万方数据 目录第一章绪论 目录 第一章绪论 ．．1 1．1引言 ．．1 1．2球形电机研究与发展概况 ．．1 1．3国内外永磁球形电机转子位置检测研究概况 。7 1．4本文主要内容 12 第二章永磁球形电机的结构原理与运动分析 13 2．1永磁球形电机的基本结构 13 2．2永磁球形电机的动力学模型 15 2．3三自由度永磁球形电机转子位置描述方法 1 7 2．4本章小结 19 第三章永磁球形电机的位置测量方法研究 21 3．1永磁球形电动机位置测量原理 21 3．1．1两自由度光学传感器介绍 ．．21 3．1．2基于双光学传感器电机转子位置测量方法 ．．22 3．1．3基于单光学传感器电机转子位置测量方法 ．．27 3．2永磁球形电动机转子位置测量仿真与比较 30 3．3静态特性分析 32 3．4本章小结 37 第四章永磁球形电机PD闭环控制研究 38 4．1永磁球形电机闭环控制仿真原理 38 4．2 PD闭环控制仿真 ．．39 4．3带测量延时的PD闭环控制仿真 42 4．4本章小结 ．．． ．．44 第五章总结与展望 45 5．1总结 ．45 5．2展望 ．45 参考文献 ．．47 致{射 52 攻读学位期间发表的学术论文目录 一53 III 万方数据 第一章绪论第一章绪论 第一章绪论 第一章绪论 1．1引言 近来，随着人们在科技领域的不断探索，工业装置走上了多样化、高性能化 的道路。在实际应用中，大到船舶、卫星，d,N家用