自动家用拖地机的设计【含proe三维及5张CAD图带开题报告-独家】.zip
自动家用拖地机的设计【含proe三维及5张CAD图带开题报告-独家】.zip,含proe三维及5张CAD图带开题报告-独家,自动,家用,拖地,设计,proe,三维,CAD,开题,报告,独家
目 录目录1 英文文献翻译21.1 Research progress of electric load simulator2Research status of control methods81.2 电动负载模拟器的研究进展101.2.1 电动负载模拟器的基本原理111.2.2 电动负载模拟器发展现状111.2.3 控制方法研究现状142.4机械系统仿真原理与应用172.9液压与气压传动201 英文文献翻译1.1 Research progress of electric load simulatorIntroductionWith 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 simulator1、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 aircrafts 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 methodsAt 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 电动负载模拟器的研究进展引言随着国防现代化和军事科学的发展,人们对航空飞行器、精确制导武器的精度、可靠性和可控制性等整体性能要求更加严格。由于飞行器和导弹等武器系统的机动性、快速性、可靠性及准确性与其飞行控制系统的性能好坏有直接关系在新型飞行器或者导弹的研发过程中,需要在各种复杂条件下对产品的性能进行测试,以确保所研制的飞行器的性能严格达到指标要求。但是经典的自破坏全实物试验破坏性较大,实验过程中造成许多财力、物力、人力的浪费,以及一定的危险性,且数据的获取也有不易。鉴于此,迫切需要一种新型的加载实验平台来满足实时高效的获取高精度、高可靠性和高频率响应试验数据,同时使试验数据可重复性更强,以达到缩短研究周期、节约研制经费、提高可靠性和成功率的目的,负载模拟器就是这样一种平台。而电动伺服负载模拟器以其结构简单、体积小、成本低,具有小信号跟踪能力强,加载分辨率高,特性稳定,适合试验研究等特点成为负载模拟器的一个新的发展方向。1.2.1 电动负载模拟器的基本原理电动负载模拟器就是利用伺服电机作为“电能机械能”的转换元件,将电能转换成电机转子的机械能,以转矩形式对承载设备加载,通过对加载转矩的控制实现对负载的模拟。一般电动负载系统工作流程如下:控制机(上位机)发送指令使加载控制器上电进入待工作态,判断检测系统各相关装置状态无误后将反馈信号传给控制机通知用户准备就绪并等待试验。当加载控制器接收到启动指令时,启动信号并通过 DAC 对加载控制器输出转矩控制信号控制伺服驱动器,输出模拟载荷。期间,加载控制器接收电机反馈信号(包括角度传感器信号和转矩传感器信号等),对工作状态进行判别,对电机进行实时控制。同时实验过程中,将各项重要的实验数据上传至控制机,由控制机处理,显示各种曲线, 并可结合多次实验结果分析得出实验结论。1.2.2 电动负载模拟器发展现状1、负载模拟器的发展负载模拟系统的发展主要经历了机械式系统和电液式系统两个阶段,电动式系统是它的一个新的发展方向。首先出现的飞行器负载模拟器是机械式负载模拟器,文献分别介绍了扭杆式和悬臂梁式机械式负载模拟系统,这种负载模拟器的优点是结构简单,加载精度高,不产生多余力矩,可靠性高,但其缺点是灵活性弱,不易实现对任意力函数加载,无法实现连续变化的载荷谱。随后,科研人员开始了改善机械式加载系统缺陷的研究。七十年代初,日本学者池谷光荣研发出电液伺服负载模拟系统,之后许多国家也都研制了用于模拟飞行器舵面所受空气动力的力矩负载模拟器。中国也在七十年代开始了对负载模拟器以及被动式电液伺服系统的研究工作,并取得了一定的成果。通过文献对电液负载系统的结构及其工作原理进行了介绍可以看出,与机械式加载器相比,电液式加载系统具有大力矩、宽频带、高精度,连续加载的载荷曲线等显要优点。但该系统加压动力复杂,体积大, 且需定时专业清洗,应用成本较高。与此同时由其结构特点所产生的多余力矩,严重地影响加载精度及系统的频带宽度。目前系统主要适用于高频、大幅值、直线加载的场合。除了上述两种负载系统,在上世纪八十年代研发出一种磁粉离合/制动器加载系统,该系统是根据电磁学原理使用特制的氧化铁合金磁性粉末传递转矩压凹凸,通过调节联轴器磁性线圈电流的大小,调整转矩的输出。它加载平稳、无噪音但加载精度低,无法正反快速加载,只适用于一般的扭矩模拟。此外,在运动过程中会出现“卡死”现象,还需定期维护操作不方便。2、电动加载相关技术的发展(1)伺服系统的发展随着电机制造技术,电力电子技术的进步和微处理器技术的进步使计算机控制技术取得显著进步,交流电机伺服系统具备了调速范围宽、稳态精度高、动态性能灵敏及四象限运行良好的技术性能,且可与直流伺服电机性能相媲美。特别是钕铁硼永磁材料的问世,给电力传动带来重大变化,使其具有运行精度高、噪声小、运行可靠、过载能力大、效率高等特点,成为高动态运动标准的最佳选择,因而交流伺服系统逐步取代直流伺服系统已成为一种趋势。目前,永磁同步电机按其工作原理、驱动电流和控制方式的不同,可分为具有正弦波反电动势的永磁同步电机(PMSM)和具有梯形波反电动势的永磁同步电机,后者又称为无刷直流电机(BLDCM)。BLDCM和PMSM 相比,具有更加明显的优越性:控制结构更为简便,单位电流产生的力矩BLDCM较PMSM的大,能够使电机和逆变器各自的潜力得到更充分的发挥,在高性能、高精度的伺服驱动领域具有广阔的应用前景。BLDCM 交流伺服系统是高性能交流伺服系统发展的主要方向,高性能化、集成化和模块化、通用化、网络化、智能化将成为今后伺服驱动系统的新发展趋势。由于位置传感器使得电机系统体积增大,电机与控制系统间的导线增多,系统易受外界干扰;在恶劣工况下灵敏度差,可靠性降低;同时安装偏差会引起换相不准确。学者提出了无位置传感器的无刷直流电机控制方式,如反电动势法、续流二极管法、电感法、磁链观测法、状态观测器法等位置检测方法,更加完善了无刷直流电机,使其更小、更精准、应用更广泛。(2)电力电子技术的发展 对于驱动电机而言,电力电子器件是弱电与强电之间功率变换的接口,由高性能电力电子开关器件组成的逆变电路是永磁同步电机高效使用的不可或缺的必要条件。自1958年世界上第一个功率半导体开关晶闸管发明以来至今,电力电子元件己经历了从第一代半控式晶闸管,到如今第四代将微电子集成电路、功率器件集成在一起的功率集成电路和智能功率模块IPM。电力电子器件始终朝着大功率、高速、集成化、智能化、网络化、数字化方向迅猛发展,极大地推动了各类电动机控制技术的革新。(3)数字驱动器应用的发展在控制技术方面,交流调速系统从初期的采用电路十分复杂的模拟控制器,20世纪80年代,大规模集成电路技术和COMS技术的发展控制器经历了从8位到32位微机及DSP(高速数字信号处理器)发展,实现了系统的全数字化控制,同时向高性能、可重构阵列结构、多核技术、高集成、运算能力快方向发展。DSP以其高速计算能力和特殊的硬件结构已经在许多应用系统中取代了工控机和单片机,成为控制系统的核心。不但使控制电路简化,而且使系统控制高精度、高可靠性、高灵活性、强存储能力、强逻辑运算能力,交流调速系统的功能更加完善,同时使用更加方便,应用更广。(4)运动控制器发展运动控制即对机械运动部件的位置、速度等进行实时的控制管理,使其按照预定运动轨迹和规定参数运动。学者对运动控制器进行了详尽的研究,目前的运动控制器可分成三类:以单片机或微处理器作为核心的运动控制器:成本低但是处理器运行速度有限,处理能力弱,且单片机系统比较复杂,软件编程的难度较大,精度不高,因此这类控制器在一些只需要低速点位运动控制和对轨迹要求不高的运动控制场合应用;以专用芯片(ASIC)作为核心处理器的运动控制器:开放式智能电机控制卡,如 PMAC 或者 TRIO 电机控制卡,这类运动控制器结构比较简单,控制也较为精确, 但成本高且灵活性不强,这类控制器适合对单轴的点位控制场合; “PC+ 运动控制器”:即基于PC总线的以DSP和FPGA/CPLD为核心处理器,I/O、操作界面以及通讯集成于一个独立的单元中的开放式运动控制。这类控制器将工控机的信息处理能力和开放式的特点与运动控制器的运动轨迹
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