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Servo Motors and Industrial Control Theory.pdf

Servo Motors and Industrial Con…

上传者: hill711 2010-09-19 评分 0 0 0 0 0 0 暂无简介 简介 举报

简介:本文档为《Servo Motors and Industrial Control Theorypdf》,可适用于人文社科领域,主题内容包含MechanicalEngineeringSeriesFrederickFLingEditorinChiefMechanicalEngineerin符等。

MechanicalEngineeringSeriesFrederickFLingEditorinChiefMechanicalEngineeringSeriesRFiroozian,ServoMotorsandIndustrialControlTheoryGGenta,VibrationDynamicsandControlGGentaandLMorello,TheAutomotiveChassis,VolumesFALeckieandDJDalBello,StrengthandStiffnessofEngineeringSystemsWodekGawronski,ModelingandControlofAntennasandTelescopesMakotoOhsakiandKiyohiroIkeda,StabilityandOptimizationofStructures:GeneralizedSensitivityAnalysisACFischerCripps,IntroductiontoContactMechanics,ndedWChengandIFinnie,ResidualStressMeasurementandtheSlittingMethodJAngeles,FundamentalsofRoboticMechanicalSystems:Theory,MethodsandAlgorithms,rdedJAngeles,FundamentalsofRoboticMechanicalSystems:Theory,Methods,andAlgorithms,ndedPBasu,CKefa,andLJestin,BoilersandBurners:DesignandTheoryJMBerthelot,CompositeMaterials:MechanicalBehaviorandStructuralAnalysisIJBuschVishniac,ElectromechanicalSensorsandActuatorsJChakrabarty,AppliedPlasticityKKChoiandNHKim,StructuralSensitivityAnalysisandOptimization:LinearSystemsKKChoiandNHKim,StructuralSensitivityAnalysisandOptimization:NonlinearSystemsandApplicationsGChryssolouris,LaserMachining:TheoryandPracticeVNConstantinescu,LaminarViscousFlowGACostello,TheoryofWireRope,ndedKCzolczynski,RotordynamicsofGasLubricatedJournalBearingSystemsMSDarlow,BalancingofHighSpeedMachineryWRDeVries,AnalysisofMaterialRemovalProcessesJFDoyle,NonlinearAnalysisofThinWalledStructures:Statics,Dynamics,andStabilityJFDoyle,WavePropagationinStructures:SpectralAnalysisUsingFastDiscreteFourierTransforms,ndEditionPAEngel,StructuralAnalysisofPrintedCircuitBoardSystemsACFischerCripps,IntroductiontoContactMechanicsACFischerCripps,Nanoindentation,ndedJGarcıadeJalonandEBayo,KinematicandDynamicSimulationofMultibodySystems:TheRealTimeChallengeWKGawronski,AdvancedStructuralDynamicsandActiveControlofStructuresWKGawronski,DynamicsandControlofStructures:AModalApproachGGenta,DynamicsofRotatingSystems(continuedafterindex)RiazollahFiroozianServoMotorsandIndustrialControlTheoryRiazollahFiroozianFiroozianElectronicsandElectroTechniqueCoTehran,IranriazollahyahoocomISSNISBNeISBNDOILibraryofCongressControlNumber:#SpringerScienceþBusinessMedia,LLCAllrightsreservedThisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrittenpermissionofthepublisher(SpringerScienceþBusinessMedia,LLC,SpringStreet,NewYork,NY,USA),exceptforbriefexcerptsinconnectionwithreviewsorscholarlyanalysisUseinconnectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbiddenTheuseinthispublicationoftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubjecttoproprietaryrightsPrintedonacidfreepaperspringercomMechanicalEngineeringSeriesFrederickFLingEditorinChiefTheMechanicalEngineeringSeriesfeaturesgraduatetextsandresearchmonographstoaddresstheneedforinformationincontemporarymechanicalengineering,includingareasofconcentrationofappliedmechanics,biomechanics,computationalmechanics,dynamicalsystemsandcontrol,energetics,mechanicsofmaterials,processing,productionsystems,thermalscience,andtribologyAdvisoryBoardSeriesEditorsAppliedMechanicsFALeckieUniversityofCalifornia,SantaBarbaraDGrossTechnicalUniversityofDarmstadtBiomechanicsVCMowColumbiaUniversityComputationalMechanicsHTYangUniversityofCalifornia,SantaBarbaraDynamicSystemsandControlDBryantMechatronicsUniversityofTexasatAustinEnergeticsJRWeltyUniversityofOregon,EugeneMechanicsofMaterialsIFinnieUniversityofCalifornia,BerkeleyProcessingKKWangCornellUniversityProductionSystemsGAKlutkeTexasAMUniversityThermalScienceAEBerglesRensselaerPolytechnicInstituteTribologyWOWinerGeorgiaInstituteofTechnologySeriesPrefaceMechanicalengineering,andengineeringdisciplinebornoftheneedsoftheindustrialrevolution,isonceagainaskedtodoitssubstantialshareinthecallforindustrialrenewalThegeneralcallisurgentaswefaceprofoundissuesofproductivityandcompetitivenessthatrequireengineeringsolutions,amongothersTheMechanicalEngineeringSeriesisaseriesfeaturinggraduatetextsandresearchmonographsintendedtoaddresstheneedforinformationincontemporaryareasofmechanicalengineeringTheseriesisconceivedasacomprehensiveonethatcoversabroadrangeofconcentrationsimportanttomechanicalengineeringgraduateeducationandresearchWearefortunatetohaveadistinguishedrosterofserieseditors,eachanexpertinoneoftheareasofconcentrationThenamesoftheserieseditorsarelistedonpagevofthisvolumeTheareasofconcentrationareappliedmechanics,biomechanics,computationalmechanics,dynamicsystemsandcontrol,energetics,mechanicsofmaterials,processing,thermalscience,andtribologyPrefaceInrecentyears,therehasbeenanincreasedactivityinthefieldofautomation,asmanufacturersdemandincreasedperformancerequirementsfromservofeeddrivecontrolsystemsandaccelerationinputTheselectionofaservosystemhasbecomeatechnologyofitsownrightThisbookinvestigatestheperformance,characteristics,anddesignofvarioustypesofservocontrolsystems,includingelectrical,DC,AC,Stepping,andElectrohydraulicservomotorsItishopedthatthetopicsdiscussedinthisbookwillhelpdesignersachieveoptimumperformancefortherequiredapplicationsWhendesigningservocontrolsystems,severalkeyparametersmustbeconsidered,includingtheeffectofinputsignal(suchassteadystateerror),thefollowingerror,andtheeffectofdisturbance(suchasexternalload)Severalparameterswillbeintroducedforeachservocontrolsystemdiscussedinthebook,sothatthedesignercaneasilycompareseveralservocontrolsystemsAchapterisdedicatedtoElectrorheologicalfluidbasedservocontrolsystemsThesefluidshavebecomecommerciallyavailableandseveralparametershavebeenestablishedfordesigningsuchsystems,whicharediscussedinthisbookElectrorheologicalfluidsarefluidsthatbecomesolidswhenavoltageisplacedacrosstwoplateswiththegapoftommInthisform,theycanbeusedasvalves,clutches,andcatchesThedesignparametersforclutchesandtorquecontrolarediscussedThetypesofservomotorsavailableinthemarketforhighperformanceapplicationscanbeclassifiedintwoversions:electricandhydraulicInthehydrauliccategory,theperformanceoftheaxialmotorisconsideredThesemotorsarecontrolledwithelectrohydraulicservovalveIntheelectriccategory,stepping,AC,andDCmotorsarediscussedForthesteppingmotors,thehybriddesignismostsuitableforhighperformanceapplicationsThesemotorsarecontrolledbytransistorcontrolledswitchingdevicesIntheDCmotors’category,normaldesign,brushless,andmovingcoilmotorswillbediscussed,aswellasthefourversionsofcontrollers:Thyristorcontrolledwithcurrentfrequenciesof,,andHz,andthePulseWidthModulateddrivesystem,whichhassuperiorperformanceviiTherehasbeenanincreaseinthedevelopmentofhighpowertransistorsandthyristors,therebyofferingamethodofcontrollinghighcurrentElectricmotorsnowcancompetewithelectrohydraulicservomotors,whichstillhaveawiderangeofapplications,specificallyinminingandheavyequipments,duetotheirhighpowertomassratiosACmotorsarestillthefirstchoiceforconstantspeedsDCmotors,nowatsmalltomediumpowerrequirements,areavailableforspeedandpositioncontrolTheinventionofinvertorsallowACmotorstocompetewithDCmotorsAsitwasdiscussedearlier,thechoiceofaservomotorfeeddriveforaspecificapplicationrequirescarefulinvestigationatthedesignstageThisbookanalyzestheperformanceofeachtypeofservomotorandestablishesmodelsofdifferentcomplexityForeachtypeofvelocity,feedback,andleadlagnetworkwillbestudiedwiththeviewofpracticaldifficultiesThemathematicalmodelforallservomotorsissimilarandcertainparameterswillinfluencethedesignThisisdiscussedindetailforeachtypeofservomotorThemathematicalmodelforasimplesystemwillbeconsideredfirst,however,astherequiredperformanceincreases,thecomplexityofthemathematicalmodelalsoincreases,andcomputerprogramsare,therefore,developedforeachtypeofservosystemTherootlocusmethodwillbeconsideredforeachservomotorwithvariousmathematicalcomplexitiesThegoverningdifferentialequationsarethensolvedforstep,velocity,andaccelerationinputInthisway,thesteadystateandfollowingerrorwillbecalculatedTheeffectofdisturbancesuchasexternaltorquewillalsobecalculatedInthisway,variousservomotorscanbecomparedThefirstandsecondchaptersofthisbookarededicatedtothemoderncontroltheoryrelevanttoservomotors,sothatpriorknowledgeofcontroltheoryisnotrequiredforunderstandingthebookOnlyfeedbackandstatevariablefeedbackcontroltheorytechniquesarediscussedFordigitalcontrol,thereaderisreferredtotherelevantdigitalcontrolbooksDuetothewidespreaduseofpersonalcomputersandsoftwarewhichmakesdetailedcalculationssimple,tediousgraphicalmethodshavebeenomittedThethirdchapterisdedicatedtomultivariablecontroltheoryServocontrolsystemsareinherentlytwoinputvariablecontrolsystems,thatis,inputsignalandexternaltorqueforceinputChapterisdedicatedtoelectricalDCservomotorsTheapplicationofstatevariablefeedbackcontrolstrategytohighperformanceservomotorsarediscussedindetailinthischapterInChapter,thecharacteristicbehaviorofsteppingmotorsareinvestigatedInChapter,thepropertiesofACmotorscontrolledbyvariablefrequencyconvertersarediscussedThedynamicandstaticbehaviorofelectrohydraulicservomotorsarediscussedinChapterTheapplicationsofElectrorheologicalfluidstoservomotorapplicationsarediscussedinChapter,whileChaptergivesacomparisonofvarioustypesofservomotorsandadesignstrategyforselectingaservomotorisdiscussedviiiPrefaceThisbookistheresultofPhDworkundertakenbytheauthorattheUniversityofAstoninBirminghamandseveralyearsofresearchandteachingworkattheUniversityofLiverpoolandTheUniversityofSheffield,UK,andSharifUniversityofTechnology,IranThisbookismeanttoserveasapracticalguideforstudentsorengineers,andincludesanappendixwithappropriateproblemsTehranRiazollahFiroozianPrefaceixContentsFeedbackControlTheoryLinearSystemNonlinearSystemsLinearizationTechniqueLaplaceTransformTransferFunctionFirstOrderTransferFunctionFrequencyResponseSecondOrderTransferFunctionBlockDiagramRepresentationFrequencyResponseConclusionFeedbackControlTheoryContinuedIntroductionRouthHurwitzStabilityCriteriaRootLocusMethodNyquistPlotBodeDiagramSteadyStateErrorStateVariableFeedbackControlTheoryIntroductionStateVariablesEigenvalues,Eigenvectors,andCharacteristicEquationStateVariableFeedbackControlTheoryDynamicObserverControllabilityandObservabilityConclusionElectricalDCServoMotorsTypesofDCServoMotorsTypesofPowerUnitxiSpeedTorqueCharacteristicofDCServoMotorsDCServoMotorsinOpenandClosedLoopVelocityControlDCServoMotorsinClosedLoopPositionControlDCServoMotorsforVeryHighPerformanceRequirementsPropertiesofPowerUnitSteppingServoMotorsPrincipalOperationSteppingMotorswithSmallStepAngleTorque–DisplacementCharacteristicofaSteppingMotorDynamicResponseCharacteristicoverOneStepMovementSpeed–TorqueCharacteristicBehaviorofSteppingMotorsSteppingMotorsforPositionControlApplicationsACServoMotorsPrincipleofOperationVariableSpeedACMotorsMathematicalModelFrequencyConverterConclusionElectrohydraulicServoMotorsIntroductionASimpleMechanicallyControlledServoSystemElectrohydraulicServoValvesHydraulicServoMotorsANumericalInvestigationoftheTransientBehaviorofanElectrohydraulicServoMotorUnderDifferentConditionsConclusionActuatorsBasedonElectroRheologicalFluidIntroductionSomePossibleApplicationsofERFluidValvesERClutchandCatchTypeActuatorsVariableDampersBasedonERFluidPropertiesofERFluidinFlowModePropertiesofERFluidinShearModeConclusionxiiContentsTheChoiceandComparisonofServoMotorsIntroductionTheoryandPerformanceCriteriaComparisonofResultsandDesignProcedureAnExampleonChoosingaServoMotorConclusionAppendixA:ExerciseProblemsonClassicalFeedbackControlTheory(Chaptersand)AppendixB:ExerciseProblemsonStateVariableFeedbackControlTheory(Chapter)AppendixC:ExerciseProblemsonServoMotors(Chapters–)CElectricalDCServoMotorsCElectricalSteppingServoMotorsCElectricalACServoMotorsCElectrohydraulicServoMotorsCActuatorsbasedonElectroRheologicalFluid(ERF)CSelectionofaServoMotorforParticularApplicationsIndexContentsxiiiChapterFeedbackControlTheoryLinearSystemInanysystem,ifthereexistsalinearrelationshipbetweentwovariables,thenitissaidthatitisalinearsystemForexample,theequationyKx(:)representsalinearsystemItmeansthatifKisconstantthentherelationship()representsalinearrelationshipbetweentwovariablesyandxIngeneral,anygoverningdifferentialequationsbetweentwovariablesxandyintheformofandndtnyþandndtnyþ::::::::::::aybmdmdtmxþ:::::::::::::::bx(:)islinear,wherenandmrepresenttheorderofdifferentialequations,andan,bmareconstantsForrealsystemn>m,anyotherformofequationsthatisnotsimilartoequation()iscallednonlinearsystemThereareextensivetheoriesthatdealwithlinearsystems,butthetheoriesonnonlinearsystemsareverycomplexandlittleExampleThecircuitdiagramofequivalentDCservomotorsisshowninFig

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