| Vibration machine designed by applying the principle of vibratory synchronization have been widely used in each production department of industry at present,such as mines,metallurgy and chemical industry,which have created the great economic benefit for society.Although large vibration machine adopts AC motor to drive,vibration machine driven by DC motor in the application of some department is quite common.Therefore,the research of the synchronization mechanism of the vibration machine driven by DC motors has important theoretical and application value.Vibration machine based on vibratory synchronization because of the limitation of their natural characteristics has some problems in engineering,such as the vibration machine driven by double motor with same rotation direction can't achieve the best trajectory and the corresponding amplitude at times and unable engineering application of vibration machines driven by multiple motors.Hence,controlled synchronization technology is used to compensate for the limitations of vibratory synchronization technology is an ideal method of solution.With the background of the above,this paper adapts the development direction of intelligent of small vibration machines,and solves problems of vibratory synchronization machines.With the supports of National Natural Science Foundation of China,the research named vibratory,controlled and composite synchronization of the vibration machine driven by DC motor is operated to solve three questions.First,how to use DC motor drive small vibration machines in application such as medical equipment.Second,how to use the ideal scheme of controlled synchronization satisfy the need of trajectory and amplitude of vibration machine driven by multiple DC motors.Third,how to apply the principle of composite synchronization to satisfy the need of vibration machine driven by multiple DC motors.This paper launch the research of the above three questions in the vibration system driven by DC motors:1)in order to make up for the synchronization theory of small vibration machine driven by DC motors,the theory and method of vibratory synchronization of the vibration machine driven by DC motors.2)this paper puts forward a complete set of controlled scheme and hardware system of DC motor control for controlled synchronization of multiple DC motors.2)based on the analysis of synchronization way of the vibration machine driven by double and multiple motors,this paper puts forward the controlled scheme.4)combining vibratory synchronization and controlled synchronization,this paper creatively put forward the research method of composite synchronization.For this purpose,this paper establishes a set of theoretical system and framework for vibratory synchronization,controlled synchronization and composite synchronization of vibration machine driven by DC motor,the content as follows:(1)Theory of vibratory synchronization of vibration machine driven by double DC motors is studied.In small vibration machines,DC motor is always as the driving source.Based on DC motor as the research object,this chapter firstly designs the dynamic models of the plane and spatial motion driven by double motors,studies the synchronization issue of the vibration system driven by DC motor.Second,combined with the mathematical model of DC motor,the motion equation of the vibration system driven by DC motor is established,and synchronization condition and stability of synchronization state of the vibration system is deduced.Third,the synchronization mechanisms of the vibration system is analyzed,including synchronization mechanism depends on the coupling dynamic characteristics of vibration system,and the stability mechanism depends on the choosing motion characteristic.Finally,the correctness of theoretical results and the effectiveness of the method are proved by experiment.At same time,it is also proved that DC motor can achieve the synchronization motion is similar to AC motor.(2)The chapter studies the controlled scheme of the vibration machine driven by multiple DC motors.Firstly,in order to satisfy the experiment need of controlled and composite synchronization,the chapter takes the vibration system driven by multiple motors of plane motion as object,makes the whole design scheme of the controlled system,and clears the controlled logic of scheme and the selection scheme of components.Third,the controlled circuit and the power circuit of the controlled system are made,and the hardware system is done.Finally,based on TMS320F28335 control platform,the configuration method of the key register and the calculation method of speed and phase difference under the controlled synchronization state are given,the whole controlled program is wrote,and the software system is done.(3)The chapter studies the controlled synchronization theory of the vibration system driven by multiple DC motors.For the question of vibratory synchronization can't satisfy the technological requirements of the vibration system driven by multiple motors,this paper transform the synchronization question of the vibration system driven by multiple motors into the controlled question of the phase difference of multiple motors.Firstly,taking the vibration system of double-ERs,three ERs and four ERs as the research objects,the electromechanical coupling model of the vibration system is established.Second,the scheme of the master-slave control for the controlled system is established,and the motor speed controller and the ER phase controller are designed by applying the arithmetic of the sliding mode control(SMC).Under the condition of the same rotation direction,the chapter takes double-ERs of the symmetric distribution,double-ERs of the bias distribution,three ERs of the horizontal distribution,three ERs of the circular distribution and four ERs of the circular distribution as the research objects respectively,chooses two schemes of the main motor speed closed loop and the slave motor phase closed loop,the main motor speed open-loop and the slave motor phase closed loop.The experiment verifies feasibility and effectiveness of the composite synchronization.(4)The chapter studies the composite synchronization theory of the vibration system driven by multiple motors.In order to balance the simplicity of the vibratory synchronization and the flexibility of the controlled synchronization,the composite synchronization is put forward combining two synchronization ways.Taking the vibration system of three ERs and four ERs as the research objects,the synchronization condition of the composite synchronization and the stability condition of the composite synchronization state are deduced.For three ERs of the horizontal distribution,three ERs of the circular distribution and four ERs of the circular distribution,two controlled schemes of three ERs and four ERs about the composite synchronization are designed.The feasibility and effectiveness of the composite synchronization are verified.In addition,the experiment results show that the composite synchronization has the congenital superiority compared with the vibratory synchronization and the controlled synchronization.It not only satisfies the technological requirements of the vibration system but also reduces the quantity of controller,the complexity of the controlled system,and the cost of the controlled synchronizationThis paper successfully solves the proposed three problems,related research results for vibration machines driven by DC motor has important academic significance and practical application value. |
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