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Study and Implementation of Intelligent Control Technology Based on AC Position Servo System

Author: LiuYuZhi
Tutor: LiMuGuo
School: Dalian University of Technology
Course: Control Theory and Control Engineering
Keywords: AC servo Position control Motion Control Card PFGA Fuzzy PID
CLC: TP273
Type: Master's thesis
Year: 2011
Downloads: 176
Quote: 1
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Abstract

In marine engineering and scientific research, the real natural environment is more complex, influenced by many factors, in order to facilitate the design of the experiment, people need to simulate waves in a laboratory environment under the conditions, to faithfully reproduce the movement of the waves under natural conditions. The wave machine is such a simulation of the waves of the experimental apparatus. Wave machine products currently use at home and abroad are still many are based on a hydraulic drive system, there are larger defects in the working stability and accuracy. With the development of motion control technology, the servo system performance is growing more and more researchers have begun to turn their attention to a wave machine R \u0026 D based on AC servo system. Position servo system as an important part of a wave machine, its direct impact on the performance of the entire wave machine precision, speed and reliability of technical indicators. The position servo system based wave machine products, most of the position servo system operating in open loop motion controller command signal is given, only the motor drive current loop and speed loop feedback control. Therefore, the introduction of the motor encoder feedback signal to the motion controller, closed-loop control, the use of advanced control algorithms to improve the tracking accuracy of the wave machine instruction signal in the position loop servo drive external constitute location. The composition, characteristics and development trend of the AC servo system, the paper outlined to improve tracking accuracy for the position control system intelligent control algorithm. Papers selected laboratory developed its own motion control card as a motion controller, the Panasonic servo MINAS A4 servo system as the control object experimental platform to build a semi-closed loop AC servo system. Analysis of the structure of the motion control card, to Windriver developed the PCI drivers under Windows XP. Motion control card works perfect feedback detection function. Ignored the influence of the inertia of the mechanical inertia of the motor and electromagnetic analysis of the controlled object, and the drive to simplify a proportional component, resulting in a simplified mathematical model of the object. PID and fuzzy parameters self-tuning PID control algorithm analysis and Matlab simulation can be seen from the simulation results, the fuzzy PID control effect is better than ordinary PID. Fuzzy PID control algorithm to achieve through the modular design of the FPGA chip of the motion control card. The fuzzy PID controller can be divided into the fuzzy controller input module, fuzzy control with PID modules for saving resources to improve controller chip arithmetic rate, the fuzzy control module uses offline lookup table in Quartus Ⅱ 6.0 development environment under each module simulation to verify the logical timing to meet the design requirements. Combined with experimental tests added ahead error compensation algorithm, experimental verification the lead compensation fuzzy PID control algorithm is feasible and effective to improve the tracking accuracy of the semi-closed loop position servo system.

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