摘 要

伴隨著微電子技術(shù)、計算機(jī)技術(shù)和控制技術(shù)的迅速發(fā)展，微特電機(jī)在國民經(jīng)濟(jì)各個領(lǐng)域中得到廣泛的應(yīng)用；另外隨著新的設(shè)計方法和加工技術(shù)的不斷涌現(xiàn)，精密傳動系統(tǒng)的精度也在不斷提高，在一些復(fù)雜機(jī)電系統(tǒng)中還是關(guān)鍵的一個環(huán)節(jié)。可見特種電機(jī)和精密傳動系統(tǒng)都在各自領(lǐng)域內(nèi)都取得了長足的進(jìn)步，因而對特種電機(jī)與精密傳動系統(tǒng)的耦合關(guān)系的研究有重要的現(xiàn)實(shí)意義：提高整個驅(qū)動系統(tǒng)的控制精度、響應(yīng)速度和穩(wěn)定性，另外對兩者的設(shè)計和選用也一定的參考價值。本論文主要開展了以下幾個方面的工作：
（1）在分析了復(fù)雜機(jī)電系統(tǒng)機(jī)電耦合形式的基礎(chǔ)上得出了復(fù)雜機(jī)電系統(tǒng)全局耦合分析的基本思路：首先，通過對耦合事實(shí)的提取建立機(jī)電系統(tǒng)的耦合模型，然后對模型進(jìn)行解耦、求解。隨后論述了機(jī)電系統(tǒng)基本元件方程、機(jī)電系統(tǒng)基本回路方程和機(jī)電系統(tǒng)耦合模型的建立方法。最后，分析了機(jī)電系統(tǒng)耦合模型進(jìn)行求解常用的兩種方法：傳遞函數(shù)法和狀態(tài)空間法。
（2）論文主要依據(jù)機(jī)電系統(tǒng)全局耦合分析的思路展開，從機(jī)電耦合的角度對特種電機(jī)（以交流伺服電機(jī)為例）和精密傳動系統(tǒng)（以精密減速器為例）的機(jī)電耦合因素進(jìn)行了分析。
（3）基于前面對機(jī)電系統(tǒng)模型建模和求解的方法，建立了典型精密傳動系統(tǒng)的簡化模型和傳遞函數(shù)。隨后用拉格朗日-麥克斯韋方程推導(dǎo)了交流永磁同步電機(jī)在三相靜止坐標(biāo)系下的電壓數(shù)學(xué)模型及相應(yīng)的運(yùn)動方程。
（4）根據(jù)前面建立的交流永磁同步電機(jī)和傳動系統(tǒng)的模型，通過坐標(biāo)變換實(shí)現(xiàn)了電機(jī)方程的解耦,由解耦的電機(jī)方程生成電機(jī)的控制框圖,然后根據(jù)控制框圖在Matlab/Simulink環(huán)境下分別搭建了電機(jī)和傳動系統(tǒng)的仿真模型,分別對電機(jī)和傳動系統(tǒng)進(jìn)行了仿真，得到一定的結(jié)論。

關(guān)鍵詞：PMSM，精密傳動系統(tǒng)，機(jī)電耦合，耦合模型
ABSTRACT

Micro-special motors have been widely applied in various fields of national economy along with the rapid development of micro-electronics, computer and control technology; at the same time, the transmission accuracy of precision driving system has been improving constantly due to the appearance of various new design methods and processing technology, and it is still a key link in complex electromechanical system. As can be seen that micro-special motors and precision driving system have improved greatly under separate circumstance, so the research of coupling relationship between micro-special motors and precision driving system has important practical significance. The following works have been done:
（1） When the coupling models of complex electromechanical system were discussed, the fundamental way of electromechanical coupling can be summarized as following: First was to build the coupling model on the basis of extracting the coupling factors, then to decouple and resolve. Second was to discuss the basic ways of building the coupling model, including the fundamental element equation and loop equation of electromechanical system. And at last, two ways of resolving the coupling models were analyzed: transfer function and state space method.
（2）This paper mainly analyzed the electromechanical coupling factors between micro-special motors(e.g.PMSM) and precision driving system(e.g.precusion reducer) in terms of electromechanical coupling.
（3）The simplified models and their transfer function were achieved according to the previous modeling and solving methods of the electromechanical system. Then the mathematical model of PMSM in three-phase coordinate was derived according to the lagrange-maxwell equation.
（4）Decouple the equation of PMSM through coordinate conversion according to the models built previously. Then the control block was acquired on the basis of the decoupled models.The PMSM and transmission system were simulated in Matlab/Simulink according to their models mentioned above, and certain conclusions were achieved.

Keywords： PMSM, Precision transmission System, Electromechanical Coupling,
Coupling Model
目 錄
摘 要 I
ABSTRACT II
目 錄 III
1 緒論 1
1.1 問題的提出及研究意義 1
1.2 復(fù)雜機(jī)電耦合問題的國內(nèi)外研究現(xiàn)狀 2
1.3 論文的主要內(nèi)容和結(jié)構(gòu) 3
2 永磁同步電機(jī)及精密傳動簡介 5
2.1 永磁同步電機(jī) 5
2.2 精密傳動 6
2.2.1 傳動的基本構(gòu)成工作原理 7
2.2.2 傳動的基本工作原理 7
3 機(jī)電耦合實(shí)驗(yàn)臺的設(shè)計 9
3.1 伺服電機(jī)的選擇 9
3.1.1 伺服系統(tǒng)的分類 9
3.1.2伺服電機(jī)的確定 10
3.2采樣頻率的確定 12
3.3位移檢測元件的選定 13
3.3.1旋轉(zhuǎn)變壓器 13
3.3.2感應(yīng)同步器 15
3.3.3光電編碼器 15
3.3.4光柵傳感器 16
3.4 精密傳動系統(tǒng)及負(fù)載的選定 17
3.5 實(shí)驗(yàn)臺系統(tǒng)硬件的組成 18
3.6 數(shù)據(jù)采集、處理部分的設(shè)計 19
4 傳動系統(tǒng)和交流伺服電機(jī)的數(shù)學(xué)模型及仿真 21
4.1 機(jī)械傳動系統(tǒng)的動力學(xué)模型 21
4.1.1 定軸傳動機(jī)構(gòu)的模型 21
4.1.2 齒輪傳動機(jī)構(gòu)的模型 22
4.1.3 絲桿螺母機(jī)構(gòu)的模型 24
4.1.4 不能忽略阻尼時傳動系統(tǒng)的模型 24
4.2 伺服電機(jī)的數(shù)學(xué)模型 25
4.3 MATLAB軟件簡介 28
4.4 交流伺服電機(jī)的仿真 28
4.4.1 PMSM的數(shù)學(xué)模型的變換 28
4.4.2 PMSM在兩相靜坐標(biāo)系下的數(shù)學(xué)模型 28
4.4.3 交流伺服電機(jī)的狀態(tài)及控制框圖 33
4.4.4 交流伺服電機(jī)的仿真分析 34
4.5 傳動系統(tǒng)仿真 37
5 機(jī)電耦合分析過程及仿真 40
5.1 復(fù)雜機(jī)電系統(tǒng)的耦合形式 40
5.2 機(jī)電耦合分析的過程 40
5.2.1 機(jī)電系統(tǒng)基本元件方程 41
5.2.2 機(jī)電系統(tǒng)基本回路的方程 43
5.3 機(jī)電系統(tǒng)耦合模型的建立方法 44
5.3..