High Precision Laser Tracing Control Method Of NESO-CPC Driven By Permanent Magnet Synchronous Motor

With the continuous development of industrial technology,the quality of measuring equipment parameters such as measurement accuracy,measurement range,real-time performance,rapidness are more and more important.Laser tracing measuring instrument is playing an increasingly important role in modern precision industry and engineering measurement because of its characteristics of large measuring space,high measuring efficiency,high measuring accuracy and easy operation.The purpose of the project " High Precision Laser Tracing Control Method of NESO-CPC driven by Permanent Magnet Synchronous Motor" is to study a control method of laser tracing measuring system based on laser tracking measuring technology,in order to realize fast tracing of moving objects in space.It provides technical reserve for China’s self-developed laser tracing measuring system.Firstly,study laser tracing measuring system and analyze the principle of laser tracing measuring in detail.The tracing control system is driven by Permanent Magnet Synchronous Motor(PMSM),so Field Orientation Control(FOC)is used in the basic framework of control algorithm.According to the function of each loop in FOC control algorithm,the current loop part is selected to modify the algorithm to meet the requirements of laser tracing measuring system for high response speed,high steadystate accuracy,high robustness and so on.It provides theoretical support for developing laser tracing measuring control method and mechanical structure of laser tracing measuring experimental system.In order to verify the effectiveness of laser tracing control method,a laser tracing measuring system of mechanical structure is designed.According to the design objectives and performance indicators of the system requirements,the overall structure scheme of the system is determined,and the motor selection of laser tracking measuring experimental system is determined,and the debugging scheme of the system is improved.All the mechanical structures of laser tracing measuring experiment system are designed with 3D design software named Inventor,including: laser interference platform design,two-dimensional rotating shafting design,over-circumferential rotation limit structure design.At the same time,the reliability and precision of mechanical shafting are analyzed and calculated.In order to meet the requirements of high response speed,high steady-state accuracy and high robustness of laser tracing measuring control method,a current predictive control method based on improved nonlinear extended state observer is proposed.The simulation model of the control method was built in MATLAB/Simulink simulation environment.Experimental results show that compared with the traditional PI control method,under the same speed overshoot,this thesis puts forward the method of steady-state error smaller and faster response speed,more stable speed response,the anti-interference capability of the system has been improved.It can satisfy the fast response,high steady-state accuracy and high robustness control of permanent magnet synchronous motor in laser tracing control system.Finally,experimental verification of NESO-CPC high-precision laser tracing control method driven by PMSM is carried out in this thesis,experimental verification system of laser tracing control is built based on multi-motor control platform based on semi-physical simulation.The experimental results show that the current predictive control algorithm improves the response speed of the system to a certain extent,and also shows that the extended state observer can greatly improve the dynamic control accuracy and anti-interference ability of the system.In the case of the same output speed overshoot,the improved NESO control method has smaller steady-state error,faster response speed and more stable speed recovery than PI control method.The antiinterference ability of the system has been improved,and the control accuracy can better meet the control requirements of the laser tracing control system.