伺服电机自适应精确定位控制问题的研究 二

^论文字数:36472,页数:76  附任务书，开题报告，文献综述 
摘要
 
  本文以松下数字式交流伺服电机为被控对象设计了多变量模糊控制器实现交流伺服电机的位置控制，并设计了基于PCI总线规范的接口卡实现PC机对交流伺服电机的控制，并利用VtoolsD开发了PCI接口卡的Windows98下的设备驱动程序。
  首先，经过坐标的平移和旋转变换，将原三相交流异步电机的复杂模型转换到M－T（Magnetization－Torque）两轴旋转坐标系上，将交流电机的物理型等效地变换成近似于直流电动机的模型，为控制带来方便。在综合分析模糊控制系统的原理和部分现有的相关成果的基础上，引入了一个多输入多输出模糊控制系统解耦定理，将交流伺服电机位置控制系统分解成了两个主控制回路系统，设计出了一个交流电机模糊控制系统，经过实验调试表明，所设计的控制系统都能够使系统稳定运行，能满足控制指标要求。
  接着，在设计硬件电路实现精确测量交流伺服电机角位移信号的基础上设计了基于PCI总线规范的接口卡。并从软件、硬件角度详细叙述了PCI的配置空间和配置机制，提出了一种方便而快捷的PCI配置空间操作方法，只用简单的I/O命令即可找到特定的PCI总线设备并对其所有的配置空间进行读写操作。
  最后，在介绍了Windows的虚拟世界，和在保护模式下如何将逻辑地址映射成物理地址，以及保护模式下的中断机制的基础上，阐明了在保护模式下应用程序对硬件设备操作驱动程序的必需的中间桥梁作用。并针对PCI设备详细介绍了利用VtoolsD开发Wndows98下驱动程序的的思路和步骤从而完成了整个系统的软件开发，并实现较好的人——机交互界面。
 关键词：多变量；模糊控制；交流伺服电机；PCI总线；驱动程序
                
ABSTRACT
 
      In this paper a multi－variable fuzzy positional control system has been designed to control the position of the AC server motor and the controlled object Is digital AC serve motor made by Panasonic. Also an Interface card has been designed based on PCI Bus protocol In order to control motor．In this paper another main Job is programming device driver under Windows98 platform using VtoolsD．
 Firstly，by moving and circumrotating coordinate switching the complex model of tri－phase AC aosynchronism motor to Magnetization－Torque two axeses，The physical model of AC color Is transformed model of DC motor approximately，It is convenience to control the motor．Analyzing principle of fuzzy control system and part of correlation production provide the foundation for Introducing decoupling theorem on a multi－Input and multi－output fuzzy system Into this paper．By decomposing the whole system Into two sub－control systems， a fuzzy control system has been designed to control AC motor．The experiments about the designed system has shown that it can make the system run stably and reach at the control requirements.
   Secondly，on the base of designing hardware circuit to implement measuring the signal of angle displacement of motor accurately，a Interface card has been designed．From the point of view of software and hardware have gone Into particular PCI configuration space and configuration mechanism and have put forward a convenient and shortcut method to operate PCI configuration space．We can find specifically PCI device and then read or write all of the configuration space only using Input／output command．
      Finally，the paper also has Introduced the virtual world of Windows and how to map the logical address to physical address In protected mode   and the Interrupt mechanism of protected mode，then the paper has illustrated that it is necessary to write virtual device driver （VxD） In order to access hardware device from the third level． That is the device driver Is a medium for program to access hardware device．
After all that the paper has gone into particular how to write device driver under Windows98 platform using VtoolsD consequently finished the whole development of the software and set up with a friendly Interface of man—machine．
Keywords：  multi－variable； fuzzy control； AC serve motor；  PCI Bus； device driver

目 录
 摘要
 前言
 第一章   绪论
    1．1    引言.(1)
 1．2   交流伺服领域的国内外发展现状及趋势(2)
 第二章   交流伺服电机
 2．1    伺服电机与驱动器简介.(5)
 2．2    交流电机数学模型建立 (10)
 2．3    电机工作在位置控制模式下.(12)
 2．4    本章小结.(16)
 第三章  交流伺服电机模糊控制系统
 3．1    模糊控制系统简介.(17)
 3．2    模糊控制系统的工作原理.(20)
 3．3    多变量模糊控制系统的设计(25)
 3．4    本章小结.(34)
 第四章  基于 PC总线的接口卡设计
 4．1    PCI总线的特点和优势.(35)
 4．2    信号定义.(36)
 4．3    基本总线传递.(38)
 4．4    PCI总线的中断机制.(41)
 4．5    PC总线的配置空间及实现技术.(44)
 4．6    利用PCI 9054和CPLD实现接口卡设计(46)
 4．7    本章小结(54)
 第 5章  PCI设备 W indows98通用驱动程序设计
 5．1    Windows的虚拟世界.(54)
 5．2    利用VtoolsD开发PCI设备Windows98下驱动程序(57)
 5．3    本章小结(62)
  结论. (63)
 致谢.(64)
 参考文献.(65)
 附录.(67)

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