The Research On The Performance Of Linear Driven Synchronous Position Control System

The criterion of measuring the controlling performance of the multi-channelledsynchronous position controlling AC servo system lies in the dynamic property, robustness aswell as the synchronous accuracy of the output response,which can be uplifted through moderatecontrol algorithm and strategy that are able to make up for the inadequacy in the hardware design.As the result, the common algorithms of adaptive genetic and ant colony are selected as the basiccontrolling algorithms in terms of the reseaech for real. In order to obtain desirable controlperformance, the algorithms mentioned above are complemented for each other based on theirown advantages to optimize the controlling parameters in the closed loops with high order. Thedeviation coupling synchronization control strategy was also confirmed to serve as themulti-channelled controlling strategy after the comparison and analysas of several kinds ofcoupling strategy. The multichannelled controlling system takes shape initially after adopting thefuzzy PID as the position error compensator of the adjacent channel with its merits of onlinedynamic adjustment being fully utilized.The YASKAWA servo motor is selected as the driven motor of the single channel, with itsmathematical model being constructed in accordance with the permanent magnet synchronousmotor (PMSM). Based on the model constructed in the synchronous rotating reference frame,thethree closed-loop control system with regards to the the current of the stator, the speed of themotor and the position of the rotor is built in combination with the voltage space vector pulsewidth modulation (SVPWM)technology and the basic tenet of vector control algorithm. For theadmirable advantages ushered in by the genetic algorithm, the control parameters of each loopare pre-stipulated with the method of reduced order equivalency.The part of simulation can be devided into two parts, one is adopting the geneticalgorithm (GA) to optimize the controlling parameters of each inner loop, and theother is employing the genetic-ant colony algorithm (GA-ACA) to optimize thecontrol parameters of the outer loop with high order. For the two cases mentionedabove, the electrical simulation model for each is constructed for different purposes,the former is to realize the speed and position control for a single motor, the latter isto materialize the positon control of the single channel and multi-channels. Thesimulation results demonstrate that the system of regulating the speed and position inwhich the parameters are optimized by GA can achieve approximate unbiased tracking to the input signals and possesses admirable performance index, while thedeviation coupling position synchronization control system optimized by GA-ACAand compensated by fuzzy PID boasts of high precision and good dynamicperformance and robustness.The part of experimental research can also be devided into two parts, one is todesign the drive circuit pertaining to regulating the speed and position of theYASKAWA servo motor, and the other is to fulfill the excogitation of the controlcabinet and the wiring connection of the servo drivers. The software of the abovetwo parts are both achieved in the programming environment of CCS3.3in whichthe optimization of the modules greatly influencing the precision of the AC motor isproduced. Meanwhile, the PC control interface of LabView is worked out in favorof data analysas and processing. The experimental results indicate that the system ofregulating the speed and position in which the parameters are optimized by GA canachieve approximate unbiased tracking to the input signals with rapid response andno overshoot, while the deviation coupling position synchronization control systemoptimized by GA-ACA and compensated by fuzzy PID boasts of highsynchronization precision and robustness with insensitivity to interferences inexperimental cirumstances.