基于三轴自主稳定的舰载卫星通信系统控制系统设计与实现

【作者】 施惟惟；

【导师】 郭健；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2012， 硕士

【摘要】 我国拥有辽阔的海域,是航运大国。随着我国船舶制造业的发展,舰载卫星通信系统在国内市场的需求日益凸显。受技术实现和价格等的影响,国内“动中通”产品仍未得到广泛应用。针对这一现状和需求,本文以舰载卫星通信系统为研究对象,设计了三轴自主稳定的稳定跟踪控制系统。首先进行了系统总体方案和结构设计,针对Ku波段舰载卫星通信系统,设计了基于卫星信号处理、稳定与跟踪和天线三个部分的系统总体结构,以无刷直流力矩电机作为执行器,采用全球定位系统、姿态参考系统和信标机组合进行姿态测量。设计了以TMS320F2812为控制核心的硬件系统,采用模块化设计,分别完成了电源模块、控制核心模块、传感器模块和电机驱动模块的电路设计。在此基础上,对三轴稳定跟踪系统进行了空间姿态分析和解算,详细分析了系统的动态过程和原理。在姿态解算的基础上,建立了电机控制系统数学模型,为了有效克服参数不确定性、未建模动态和扰动等复杂非线性因素,设计了自适应鲁棒控制器,理论分析证明了该控制器能有效克服各种不确定因素,并通过调节控制器参数使系统达到所要求的跟踪精度通过仿真,验证了该控制器的有效性。利用模块化思想,进行了系统的软件设计。完成了包括传感器数据解码、系统初始化以及系统稳定跟踪三个模块的程序设计和调试。最后,进行了系统软硬件联合调试,并对调试结果进行了分析。实验结果表明本系统达到了预期的指标要求。更多还原

【Abstract】 Having a broad maritime area makes China become a large shipping country. With the development of China’s ship-building industry, the demand for satellite communication system on shipboard in the domestic market is becoming increasingly prominent. By the restrain of technology and price, the "mobile communication" products have not yet been widely used inland. In response to this situation, a three-axis stability control system based on the satellite communication system on the shipboard is designed in this paper.First, the overall program and technical indicators are proposed. The communication system is for Ku-band satellite, what is divided into three parts:the satellite signal processing, stabilized tracking and the antenna. The system takes brushless DC torque motor as its actuators, and GPS, AHRS, beacon system as its sensors.The hardware system is designed as modules, which uses TMS320F2812 as its core, and the circuits of the power module, the core module, the sensor module and the motor drive module are finished. Then, the attitude of the three-axis stabilized tracking system is solved in space, and the dynamic process and principles of the system is detailed analyzed. And the mathematical model of the motor control system is established. In order to effectively overcome the parametric uncertainties, unmodeled dynamics, disturbances, and other complex non-linear factors, an Adaptive Robust Controller is designed. Theoretical analysis shows that the controller can overcome the uncertainty of the system to reach the required tracking accuracy by adjusting the controller parameters. And the effectiveness of the controller is verified through simulation.Then, using the modular thoughts, the software system is designed. The programming and debugging of sensor data decoding, system initialization and the stable tracking is complete.Finally, the software and the hardware system is joint debugged, and the results are analyzed. The experimental results show that the system achieved the desired index requirements.更多还原