基于宏/微驱动模式的双电机控制系统仿真研究随着现代科技技术的飞速发展，伺服系统对控制精度、响应速度以及鲁棒性要求的不断提高，两级驱动伺服系统应运而生，得到了很好的发展和广泛的应用。利用了两套电机系统的性能优势进行控制，这样既可以驱动大功率负载设备，又能够实现关键部件的精确调节,本课题便是基于上述原因，致力研究宏微双极驱动的控制方法，从伺服系统宏/微驱动模型的建立到PID控制方法的仿真，实现系统的精度调节。首先，设计了系统的整体方案，两级平台各自的运行方式以及连接控制策略。建立PMSM矢量控制的数学模型，依据矢量控制原理，利用matlab/Simulink工具搭建粗、精通道平台三闭环结构仿真模型。其次，分别设计了两级平台位置环中PID控制器，并对控制算法和协调控制模块进行了改进，同时完善了两级平台间的连接策略。最后，针对不同的PID参数对系统响应的影响完成了matlab仿真。25451
关键词  伺服系统  宏/微双驱动  PID控制  matlab仿真
毕业论文设计说明书外文摘要
Title  Dual motor control system model simulation
        based on macro/micro drive
Abstract
With the rapid development of modern science and technology, servo system on the control precision and response speed and robustness requirements continue to improve, two-stage drive servo system arises at the historic moment, has been well developed and widely applied. To make use of the advantage of the performance of two sets of motor system control, so that both can drive high power load, but also can realize the precise adjustment of key components, this paper was based on the above reasons, is committed to study the macro micro bipolar drive control method, set up from the servo system macro/micro driven model to the optimization of PID control method of simulation, the accuracy of the system regulation. First of all, the design ofthe system overall plan, operation mode of two level platform of their own and connection control strategy. To establish the mathematical model of PMSM vector control, on the basis of vector control principle, coarse and fine channel platform three loop structure simulation model is built using Matlab /Simulink tools, combined with general structure design of the whole servo system simulation model is built. Secondly, we design the two platform position loop PID controller and the control algorithm and the coordinated control module was improved at the same time improve the strategy of connection between the two platform. Finally, according to the different parameters of the PID controller of the impact response of the system to complete the matlab simulation.
Keywords  servo system  macro/micro  dual drive  PID control  matlab simulation
目   次
1  绪论    1
1.1 选题背景及意义    1
1.2 国内外研究现状    2
1.3 本文所做的工作及章节安排    3
2  两级平台驱动结构分析    4
2.1 伺服系统的驱动结构    4
2.2 矢量控制    5
2.3 本章小结    6
3  系统的矢量控制结构设计和仿真模型建立    8
3.1 PMSM矢量控制结构设计    8
3.2 压电陶瓷驱动的精通道平台数学建模    9
3.3 Matlab仿真模型建立    10
3.4 本章小结    16
4  两级驱动伺服系统中PID控制算法的应用    17
4.1 PID控制算法的理论研究    17
4.2 PID控制算法的控制影响分析    19
4.3 本章小结    24
结  论    25 基于宏/微驱动模式的双电机控制系统仿真研究:http://www.751com.cn/zidonghua/lunwen_19254.html