| There are many physical processes and complex coupling relationships of many parameters existing between the subsystems of permanent magnet AC servo precision drive system, so the dynamic performance of the whole system is determined by the coupling relationship of the subsystems and the input of the system. However, dynamic process of the subsystem is not only determined by structure parameters of the single subsystem, but also influenced by other subsystems with coupling relationships. Therefore, when specific functions are fulfilled in the permanent magnet AC servo precision drive system, many adverse working conditions are hidden or revealed which lead to difficultly in producing high quality products, and even the major faults. Especially in the production process, because the mutual coupling relationships of electrical parameters and mechanical parameters have an effect on the dynamic performances of the whole system, the electromechanical coupling phenomenon has a great harm to safe operation of this system, which manifests in the non-stationary process. The bad states of these devices are caused by the mechanism which is lack of deep-seated study on multivariate and multidimensional coupling relationships between many physical processes and many parameters. This thesis is funded by Chongqing Municipal Important Science and Technology Key Project, China (CSTC, No. 2006AA3010). The electromechanical coupling dynamic analysis and experiment on the permanent magnet AC servo precision drive system are researched. The major contribution of the work is summarized as followings.The servo system has the characteristics which include many physical processes, achieve various forms of energy transfer and conversion through multivariate and multidimensional motions, and has the interaction on all dynamic processes through different coupling forms. Then, there is a detailed analysis on the accuracy indexes of servo system and the factors influencing on the servo system, and a close relationship between mechanical structure factors of precision transmission and control parameters of servo system is pointed out. Because the mechanical structure factors and the control parameters interact to each other and form a strong coupling relationship, this relationship provides a theoretical basis for electromechanical coupling analysis of the permanent magnet AC servo precision drive system.From the electromechanical coupling point of view, when the global and local electromechanical coupling analysises are carried out on the permanent magnet AC servo precision drive system, the global electromechanical coupling relationship of the system is built up, and the electromechanical coupling diagram of PMSM-precision transmission subsystem is also established. Furthermore, the physical and mathematical models of this subsystem are obtained by analytical dynamics method of electromechanical system, and the electromechanical dynamic equations of this subsystem are deduced. Finally, the mathematical model is analyzed by examples through the numerical method.Based on global coupling view of the electromechanical system, and according to mechanics principle of the mechanical system, the permanent magnet AC servo precision drive system is concluded to the three qualities-two shafts system. Then the electromechanical coupling vibration mathematical model of this system is set up. Owing to the complex nonlinear coupling relationship between mechanical parameters and electrical parameters of this model, it is difficult to solve this model by analytical method. Therefore the simulation model is built up. What's more, the dynamic processes of electromechanical coupling vibration are simulated which are caused by current regulator parameters, damping, harmonic disturbance, gap, load disturbance, and so on.The basic composition and principle of the experiment system are analyzed, and then the control system design, the hardware design, the electrical connection design, and the software design are accomplished. Finally, the experiment system structure of the permanent magnet AC servo precision drive system is constructed which are PMAC as the core and IPC as the support platform. According to the actual situation of this experiment system, the anti-interference analysis is performed, and the anti-interference design is carried out from hardware aspects, which improves the reliability of the system.On the basis of the experiment system, experimental studies are achieved, such as transient test, efficiency test, system error test(angle deviation test, repetitive positioning accuracy test, transmission error test), backlash test, electromechanical coupling test, vibration acceleration test, and so on. Electromechanical coupling influence is explored in the permanent magnet AC servo precision drive system, and the theoretical analysis results are compared and validated by the experimental studies. |
