Research On Dynamics Of Mechatronics Based Servo System

The dissertation deals with some key issues relevant to the development on dynamics of 2 DOF manipulators servo system, including Direct Torque Control and Vector Control technology. Meanwhile, mechatronics virtual prototype based co-simulation platform is also established according to the Adams and Matlab/Simulink software for validating the above two control strategies. The following work has been completed.(1) Based on the commercial software, Matlab/Simulink and Adams, the servo and Mechanism subsystem are constructed respectively. The corresponding interface is developed in terms of S-function in Matlab. Take Displace/Velocity Driving, Real-time Load Feedback as control ideal the difficulty about the information real-time chang is solved.(2) One fast modeling skill is fulfilled. Based on the graphic programming language, the Space Vector Pusle Width Modulation, Stator Flux and Torque observation based on U ? Imodel, Rotor Flux observation and so on are constructed individually. Then two frequency conversion technology (Direct Torque Control and Vector Control) are adopted and applied. The servo subsystem is established.(3) One procedure from inside to outside is used. The parameters of Current, Veloctiy and Displacement Loops in DTC and VC are optimized to guarantee the robustness of system. Then velocity and acceleration Feed-Forward are also given to realize the following quality, By the comioparison between the DTC and VC, We can find that DTC is better speediness than VC, while VC is better stabilization than DTC(4) Aimed at the Variable load in the real working situation. Fuzzy negulation is designed to adjust the parameters of displacement loop in VC. Moreover, the above approaches are an one module of co-simulation platform, according to the simulation, we found that Fuzzy PID is better than only VC.The above research not only gives guidance to the design of mechationics based on the whole numerical model and its controller but also lay a solid foundation for physical prototype manufacturing and its industrial application...