自動家用拖地機的設(shè)計【含proe三維及5張CAD圖帶開題報告-獨家】.zip
自動家用拖地機的設(shè)計【含proe三維及5張CAD圖帶開題報告-獨家】.zip,含proe三維及5張CAD圖帶開題報告-獨家,自動,家用,拖地,設(shè)計,proe,三維,CAD,開題,報告,獨家
目 錄
目錄
1 英文文獻翻譯 2
1.1 Research progress of electric load simulator 2
Research status of control methods 8
1.2 電動負載模擬器的研究進展 10
1.2.1 電動負載模擬器的基本原理 11
1.2.2 電動負載模擬器發(fā)展現(xiàn)狀 11
1.2.3 控制方法研究現(xiàn)狀 14
2.4機械系統(tǒng)仿真原理與應(yīng)用 17
2.9液壓與氣壓傳動 20
1 英文文獻翻譯
1.1 Research progress of electric load simulator
Introduction
With the modernization of national defense and the development of military science, the requirements for the accuracy, reliability and controllability of aircraft and precision guided weapons are more stringent.
Since the maneuverability, rapidity, reliability and accuracy of the aircraft and missile systems are directly related to the performance of the flight control system, it is necessary to test the performance of the products under various complex conditions to ensure the strict performance of the developed aircraft. The requirement of the index is reached. But the classic self destruct all physical test is very destructive. In the process of the experiment, many financial, material and human resources are wasted, as well as certain danger, and the acquisition of data is not easy. In view of this, a new loading experiment platform is urgently needed to meet the real-time and efficient acquisition of high precision, high reliability and high frequency response test data. At the same time, the test data can be more repeatable, in order to shorten the study period, save the development fund, improve the reliability and success rate. Such a platform. The electric servo load simulator, with its simple structure, small size, low cost, high tracking ability with small signal, high loading resolution, stable characteristic and suitable for experimental research, has become a new development direction of load simulator.
The basic principle of the electric load simulator
The electric load simulator is to use the servo motor as the conversion element of "electric energy - mechanical energy". The electric energy is converted into the mechanical energy of the motor rotor. The load is loaded in the form of torque in the form of torque, and the load is simulated by the control of the load torque.
The working flow of the general electric load system is as follows: the control machine (upper computer) sends instructions to the load controller to enter the standby mode, and then judge the feedback signal to the control machine to notify the user to be ready and wait for the test. When the loading controller receives the start instruction, the signal is started and the torque control signal is output through DAC to control the servo driver and output the simulated load. During the period, the loading controller receives the feedback signal of the motor (including the angle sensor signal and the torque sensor signal etc.) to distinguish the working state and control the motor in real time. In the course of the experiment, the important experimental data are uploaded to the control machine, the control machine is processed, various curves are displayed, and the experimental results can be obtained by analyzing the results of many experiments.
Development status of electric load simulator
1、Development of load simulator
The development of the load simulation system has gone through two stages: the mechanical system and the electro-hydraulic system. The electric system is a new development direction. The first appearance of the vehicle load simulator is a mechanical load simulator. The document introduces the torsion bar type and the cantilever beam type mechanical load simulation system. The advantages of this load simulator are simple structure, high loading precision, no excess torque and high reliability, but its disadvantage is that the flexibility is weak and it is not easy to be realized. Force function loading can not achieve continuous load spectrum.
Subsequently, researchers began to improve the mechanical loading system defects research. In the early 70s, Iketani Hikarui, a Japanese scholar, developed an electro-hydraulic servo load simulation system, and many countries have developed a torque load simulator used to simulate the aerodynamic force of the aircraft's rudder. In 70s, China began to study the load simulator and passive electro-hydraulic servo system, and achieved some results. Through the introduction of the structure and working principle of the electro-hydraulic load system, it can be seen that the electro-hydraulic loading system has the advantages of large torque, wide band, high precision and continuous loading load curve compared with the mechanical loader. But the system has complex power, large volume and regular professional cleaning, and the cost of application is high. At the same time, the redundant torque generated by its structural characteristics seriously affects the loading accuracy and the bandwidth of the system. At present, the system is mainly suitable for occasions with high frequency, large value and linear loading.
In addition to the above two load systems, a magnetic powder clutch / brake loading system was developed in the 80s of last century. The system uses a special iron oxide alloy magnetic powder to transfer torque pressure according to the principle of electromagnetics, and adjusts the output of torque by adjusting the size of the magnetic coil current of the coupling. It is loaded smoothly and without noise, but the loading accuracy is low, and it can not be loaded fast and fast. It is only suitable for general torque simulation. In addition, the phenomenon of "stuck" occurs during the movement, and it is also inconvenient to maintain regular operation.
2、 Development of electric loading related technology
（1）The development of servo system
With the motor manufacturing technology, the progress of the power electronics technology and the progress of the microprocessor technology, the computer control technology has made remarkable progress. The AC motor servo system has the technical performance of wide speed regulating range, high steady state precision, dynamic performance sensitive and four quadrant running well, and can be compared with the performance of DC servo motor. Beauty. In particular, the generation of magnetism permanent magnetic material has brought great changes to power transmission, which has the characteristics of high operating precision, small noise, reliable operation, high overload capacity and high efficiency. It has become the best choice for high dynamic motion standard. Therefore, the AC servo system has gradually replaced the DC servo system.
At present, permanent magnet synchronous motor (PMSM) can be divided into permanent magnet synchronous motor (PMSM) with sine wave back EMF and permanent magnet synchronous motor with trapezoid wave back EMF, and the latter is called brushless DC motor (BLDCM), according to its working principle, driving current and control mode. Compared with PMSM, BLDCM has more obvious advantages: the control structure is more convenient, the torque generated by the unit current is larger than that of the PMSM, and the potential of the motor and inverter can be more fully realized, and it has a broad application prospect in the field of high performance and high precision servo drive. BLDCM AC servo system is the main direction of the development of high performance AC servo system. High performance, integration and modularization, generalization, networking and intellectualization will become the new development trend of the servo system in the future.
Because the position sensor makes the motor system volume increase, the wire between the motor and the control system increases, the system is easily disturbed by the outside, the sensitivity is poor and the reliability is reduced in the bad working condition, and the installation deviation will cause the inaccuracy of the commutation. Scholars have proposed a sensorless brushless DC motor control method, such as back EMF method, continuous current diode method, inductance method, magnetic chain observation method, state observer method and other position detection methods, more perfect the brushless DC motor, making it smaller, more accurate, and more widely used.
(2)Development of power electronics technology
For the drive motor, the power electronic device is the interface of the power conversion between the weak and the strong. The inverter circuit, which is composed of high performance power electronic switching devices, is an indispensable necessary condition for the efficient use of the permanent magnet synchronous motor. Since the invention of the first power semiconductor switch thyristor in the world since 1958, power electronic components have gone through the first generation semi controlled thyristor, to the fourth generation of the integrated circuits and power devices, which integrate the microelectronic integrated circuits and power devices, and the intelligent power mode block IPM. Power electronic devices have been developing rapidly in the direction of high power, high speed, integration, intelligence, network and digitization, which greatly promoted the innovation of all kinds of motor control technology.
(3)The development of digital driver application
In the control technology, the AC speed control system is a very complex analog controller using the circuit. In 1980s, the development controller of large scale integrated circuit and COMS technology developed from 8 to 32 bit microcomputer and DSP (high speed digital signal processor), and realized the full digital control of the system. It is developing towards high-performance, reconfigurable array, multi-core technology, high integration and computing power. With its high-speed computing power and special hardware structure, DSP has replaced the IPC and MCU in many application systems, and has become the core of the control system. It not only simplifies the control circuit, but also makes the system control high precision, high reliability, high flexibility, strong storage ability and strong logic operation ability. The function of AC speed regulation system is more perfect, and it is more convenient and widely used.
(4)Development of motion controller
Motion control means that the position and speed of mechanical moving parts are controlled and managed in real time, so that they can move according to predetermined track and prescribed parameters. Scholars have studied the motion controller in detail, and the motion controller can be divided into three categories.
A motion controller with a single chip or microprocessor as the core: low cost but limited operating speed, weak processing capacity, complicated single chip system, difficult software programming and low precision, so this kind of controller is only in some low bit position control and not high trajectory requirements. The application of the control situation;
Special chip (ASIC) is used as the motion controller of the core processor: open intelligent motor control card, such as PMAC or TRIO motor control card. The structure of this kind of motion controller is simple, the control is more accurate, but the cost is high and the flexibility is not strong. This kind of controller is suitable for the single axis point position control situation;
"PC+ motion controller": that is, the open motion control of the PC bus based on DSP and FPGA/CPLD as the core processor, the I/O, the operating interface, and the communication integrated in an independent unit. This kind of controller combines the information processing capability and the open characteristics of the industrial control machine with the motion locus control of the motion controller organically. It has the characteristics of powerful information processing ability, high openness, precise motion locus control, and excellent versatility. It can also provide multi axis coordinated motion control on board and complex motion trajectory planning, real-time interpolation operation, error compensation and servo digital filtering to realize closed loop control, which ensures that the driver can provide more accurate, omni-directional and three-dimensional data for loading test with complex, independent, accurate and real-time loading.At present, the products of "PC+ motion controller" are mainly based on the DeltaTau PMAC card series and the open motion controller series of China Gu Gao company. The loading controller is used as the control core, and the torque load loading, bending moment load loading and axial load load loading are carried out on the steering gear. It can be loaded separately for the three kinds of load, and can also be loaded with arbitrary bending moment, torque and axial force, so that the system can simulate the actual working load of the rudder, so as to test the dynamic and static performance of the rudder system under the condition of compound loading, and give the corresponding test results. . Therefore, the open, independent, intelligent and multi axis motion controller with good stability is the trend of the current and future controllers.
Research status of control methods
At present, many scholars have studied the load dynamic characteristics
of the load motor control system to realize the verification and test of various advanced control algorithms, so as to test the performance of the motor power transmission system and drive in the test platform.
According to whether the control strategy needs the precise mathematical model of the system, the control methods of the electric loading system can be divided into the traditional control method of the model based structure invariance principle, the compound control method, the adaptive control method, the multivariable decoupling control method, the H infinity control method, and the learning control method based on the control decision. An intelligent control method with initial control learning and neural network control.
The traditional control is based on the control mode of the precise model of the controlled object, which is modeled for control, and usually only considers the linear model structure and neglects the nonlinear factors in the system. This is a suitable control method for the simple linear system which can be ignored by the precise and nonlinear factors of the model. If the nonlinear factors of the system are taken into full consideration, the difficulty and complexity of the design of the system controller are increased.
With the development of intelligent control, the construction of adaptive controller with neural network has become a hot topic in some papers. The principle is to combine the robust adaptive system theory with the neural network theory, and to use the neural network to approximate any continuous real function on the compact set with arbitrary accuracy, and to identify the nonlinear dynamic system. Knowledge and control provide a very useful new tool.
Some documents use direct torque control, using highly integrated ACS800 of ABB company, the high precision servo drive of Begala company ACOPOS series, which is simple and accurate, but the cost is too high. Many scholars have begun to combine the theory of intelligent control with the theory of direct torque control. There are many direct torque control systems based on fuzzy control and artificial neural network, which make the control performance more improved. Now it has become the most research in various communication speed control methods. At the same time, in view of the development of the electric load simulation system to the multi channel control direction, a multi axis motion control system is proposed. The PMAC (multi axis motion controller) card with PID control and feedforward control is used to control the driver, which ensures that the driver can be loaded in a complex, independent, accurate and real time loading test. For more accurate, omni-directional and stereoscopic data.
Summary
The above is the general situation of the research on electric load simulator by domestic and foreign scholars.
The electric load simulator plays a more important role in aviation, weapons, machinery and other fields because of its advantages of simple structure, large torque and precise control. Therefore, it has the advantages of simple structure, small size, low cost, high tracking ability with small signal, high loading resolution, stable characteristic and high integration degree, which is the research direction of new load system. The current rapid development of the electric load is constantly meeting these requirements, and tends to multi drive, multi-channel multi axis control so that different types of motor can be controlled, and load experiments can be carried out in different ways at the same time, which will make the composite electric load more accurate, stable, and more comprehensive test data.
1.2 電動負載模擬器的研究進展
引言
隨著國防現(xiàn)代化和軍事科學(xué)的發(fā)展，人們對航空飛行器、精確制導(dǎo)武器的精度、可靠性和可控制性等整體性能要求更加嚴格。
由于飛行器和導(dǎo)彈等武器系統(tǒng)的機動性、快速性、可靠性及準確性與其飛行控制系統(tǒng)的性能好壞有直接關(guān)系在新型飛行器或者導(dǎo)彈的研發(fā)過程中，需要在各種復(fù)雜條件下對產(chǎn)品的性能進行測試，以確保所研制的飛行器的性能嚴格達到指標要求。但是經(jīng)典的自破壞全實物試驗破壞性較大，實驗過程中造成許多財力、物力、人力的浪費，以及一定的危險性，且數(shù)據(jù)的獲取也有不易。鑒于此，迫切需要一種新型的加載實驗平臺來滿足實時高效的獲取高精度、高可靠性和高頻率響應(yīng)試驗數(shù)據(jù)，同時使試驗數(shù)據(jù)可重復(fù)性更強，以達到縮短研究周期、節(jié)約研制經(jīng)費、提高可靠性和成功率的目的，負載模擬器就是這樣一種平臺。而電動伺服負載模擬器以其結(jié)構(gòu)簡單、體積小、成本低，具有小信號跟蹤能力強，加載分辨率高，特性穩(wěn)定，適合試驗研究等特點成為負載模擬器的一個新的發(fā)展方向。
1.2.1 電動負載模擬器的基本原理
電動負載模擬器就是利用伺服電機作為“電能—機械能”的轉(zhuǎn)換元件，將電能轉(zhuǎn)換成電機轉(zhuǎn)子的機械能，以轉(zhuǎn)矩形式對承載設(shè)備加載，通過對加載轉(zhuǎn)矩的控制實現(xiàn)對負載的模擬。
一般電動負載系統(tǒng)工作流程如下：控制機（上位機）發(fā)送指令使加載控制器上電進入待工作態(tài)，判斷檢測系統(tǒng)各相關(guān)裝置狀態(tài)無誤后將反饋信號傳給控制機通知用戶準備就緒并等待試驗。當加載控制器接收到啟動指令時，啟動信號并通過 DAC 對加載控制器輸出轉(zhuǎn)矩控制信號控制伺服驅(qū)動器，輸出模擬載荷。期間，加載控制器接收電機反饋信號(包括角度傳感器信號和轉(zhuǎn)矩傳感器信號等)，對工作狀態(tài)進行判別，對電機進行實時控制。同時實驗過程中，將各項重要的實驗數(shù)據(jù)上傳至控制機，由控制機處理，顯示各種曲線， 并可結(jié)合多次實驗結(jié)果分析得出實驗結(jié)論。
1.2.2 電動負載模擬器發(fā)展現(xiàn)狀
1、負載模擬器的發(fā)展
負載模擬系統(tǒng)的發(fā)展主要經(jīng)歷了機械式系統(tǒng)和電液式系統(tǒng)兩個階段，電動式系統(tǒng)是它的一個新的發(fā)展方向。首先出現(xiàn)的飛行器負載模擬器是機械式負載模擬器，文獻分別介紹了扭桿式和懸臂梁式機械式負載模擬系統(tǒng)，這種負載模擬器的優(yōu)點是結(jié)構(gòu)簡單，加載精度高，不產(chǎn)生多余力矩，可靠性高，但其缺點是靈活性弱，不易實現(xiàn)對任意力函數(shù)加載，無法實現(xiàn)連續(xù)變化的載荷譜。
隨后，科研人員開始了改善機械式加載系統(tǒng)缺陷的研究。七十年代初，日本學(xué)者池谷光榮研發(fā)出電液伺服負載模擬系統(tǒng)，之后許多國家也都研制了用于模擬飛行器舵面所受空氣動力的力矩負載模擬器。中國也在七十年代開始了對負載模擬器以及被動式電液伺服系統(tǒng)的研究工作，并取得了一定的成果。通過文獻對電液負載系統(tǒng)的結(jié)構(gòu)及其工作原理進行了介紹可以看出，與機械式加載器相比，電液式加載系統(tǒng)具有大力矩、寬頻帶、高精度，連續(xù)加載的載荷曲線等顯要優(yōu)點。但該系統(tǒng)加壓動力復(fù)雜，體積大， 且需定時專業(yè)清洗，應(yīng)用成本較高。與此同時由其結(jié)構(gòu)特點所產(chǎn)生的多余力矩，嚴重地影響加載精度及系統(tǒng)的頻帶寬度。目前系統(tǒng)主要適用于高頻、大幅值、直線加載的場合。
除了上述兩種負載系統(tǒng)，在上世紀八十年代研發(fā)出一種磁粉離合/制動器加載系統(tǒng)，該系統(tǒng)是根據(jù)電磁學(xué)原理使用特制的氧化鐵合金磁性粉末傳遞轉(zhuǎn)矩壓凹凸，通過調(diào)節(jié)聯(lián)軸器磁性線圈電流的大小，調(diào)整轉(zhuǎn)矩的輸出。它加載平穩(wěn)、無噪音但加載精度低，無法正反快速加載，只適用于一般的扭矩模擬。此外，在運動過程中會出現(xiàn)“卡死”現(xiàn)象，還需定期維護操作不方便。
2、電動加載相關(guān)技術(shù)的發(fā)展
（1）伺服系統(tǒng)的發(fā)展
隨著電機制造技術(shù)，電力電子技術(shù)的進步和微處理器技術(shù)的進步使計算機控制技術(shù)取得顯著進步，交流電機伺服系統(tǒng)具備了調(diào)速范圍寬、穩(wěn)態(tài)精度高、動態(tài)性能靈敏及四象限運行良好的技術(shù)性能，且可與直流伺服電機性能相媲美。特別是釹鐵硼永磁材料的問世，給電力傳動帶來重大變化，使其具有運行精度高、噪聲小、運行可靠、過載能力大、效率高等特點，成為高動態(tài)運動標準的最佳選擇，因而交流伺服系統(tǒng)逐步取代直流伺服系統(tǒng)已成為一種趨勢。
目前，永磁同步電機按其工作原理、驅(qū)動電流和控制方式的不同，可分為具有正弦波反電動勢的永磁同步電機（PMSM）和具有梯形波反電動勢的永磁同步電機，后者又稱為無刷直流電機（BLDCM）。BLDCM和PMSM 相比，具有更加明顯的優(yōu)越性：控制結(jié)構(gòu)更為簡便，單位電流產(chǎn)生的力矩BLDCM較PMSM的大,能夠使電機和逆變器各自的潛力得到更充分的發(fā)揮，在高性能、高精度的伺服驅(qū)動領(lǐng)域具有廣闊的應(yīng)用前景。BLDCM 交流伺服系統(tǒng)是高性能交流伺服系統(tǒng)發(fā)展的主要方向，高性能化、集成化和模塊化、通用化、網(wǎng)絡(luò)化、智能化將成為今后伺服驅(qū)動系統(tǒng)的新發(fā)展趨勢。
由于位置傳感器使得電機系統(tǒng)體積增大，電機與控制系統(tǒng)間的導(dǎo)線增多，系統(tǒng)易受外界干擾；在惡劣工況下靈敏度差，可靠性降低；同時安裝偏差會引起換相不準確。學(xué)者提出了無位置傳感器的無刷直流電機控制方式，如反電動勢法、續(xù)流二極管法、電感法、磁鏈觀測法、狀態(tài)觀測器法等位置檢測方法，更加完善了無刷直流電機，使其更小、更精準、應(yīng)用更廣泛。
（2）電力電子技術(shù)的發(fā)展
對于驅(qū)動電機而言，電力電子器件是弱電與強電之間功率變換的接口，由高性能電力電子開關(guān)器件組成的逆變電路是永磁同步電機高效使用的不可或缺的必要條件。自1958年世界上第一個功率半導(dǎo)體開關(guān)晶閘管發(fā)明以來至今，電力電子元件己經(jīng)歷了從第一代半控式晶閘管，到如今第四代將微電子集成電路、功率器件集成在一起的功率集成電路和智能功率模塊IPM。電力電子器件始終朝著大功率、高速、集成化、智能化、網(wǎng)絡(luò)化、數(shù)字化方向迅猛發(fā)展，極大地推動了各類電動機控制技術(shù)的革新。
（3）數(shù)字驅(qū)動器應(yīng)用的發(fā)展
在控制技術(shù)方面，交流調(diào)速系統(tǒng)從初期的采用電路十分復(fù)雜的模擬控制器，20世紀80年代，大規(guī)模集成電路技術(shù)和COMS技術(shù)的發(fā)展控制器經(jīng)歷了從8位到32位微機及DSP（高速數(shù)字信號處理器）發(fā)展，實現(xiàn)了系統(tǒng)的全數(shù)字化控制，同時向高性能、可重構(gòu)陣列結(jié)構(gòu)、多核技術(shù)、高集成、運算能力快方向發(fā)展。DSP以其高速計算能力和特殊的硬件結(jié)構(gòu)已經(jīng)在許多應(yīng)用系統(tǒng)中取代了工控機和單片機，成為控制系統(tǒng)的核心。不但使控制電路簡化，而且使系統(tǒng)控制高精度、高可靠性、高靈活性、強存儲能力、強邏輯運算能力，交流調(diào)速系統(tǒng)的功能更加完善，同時使用更加方便，應(yīng)用更廣。
（4）運動控制器發(fā)展
運動控制即對機械運動部件的位置、速度等進行實時的控制管理，使其按照預(yù)定運動軌跡和規(guī)定參數(shù)運動。學(xué)者對運動控制器進行了詳盡的研究，目前的運動控制器可分成三類：
以單片機或微處理器作為核心的運動控制器：成本低但是處理器運行速度有限，處理能力弱，且單片機系統(tǒng)比較復(fù)雜，軟件編程的難度較大，精度不高，因此這類控制器在一些只需要低速點位運動控制和對軌跡要求不高的運動控制場合應(yīng)用；
以專用芯片(ASIC)作為核心處理器的運動控制器：開放式智能電機控制卡，如 PMAC 或者 TRIO 電機控制卡，這類運動控制器結(jié)構(gòu)比較簡單，控制也較為精確， 但成本高且靈活性不強，這類控制器適合對單軸的點位控制場合；
“PC+ 運動控制器”：即基于PC總線的以DSP和FPGA/CPLD為核心處理器，I/O、操作界面以及通訊集成于一個獨立的單元中的開放式運動控制。這類控制器將工控機的信息處理能力和開放式的特點與運動控制器的運動軌跡
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