数字化有限转角直流无刷力矩电机伺服控制系统

【作者】 田荣军；

【导师】 刘卫国；

【作者基本信息】 西北工业大学 ， 电机与电器， 2003， 硕士

【摘要】 本文研究了一种新型的导弹舵机伺服控制系统。该系统是以80C196KC单片机为控制核心的数字化有限转角直流无刷力矩电机控制系统，它具有无需减速机构、输出转矩大、体积小，控制简单、响应快、跟踪精度高和可靠性高等优点。该系统在取代传统的液压、气动导弹舵机伺服控制系统方面有很大潜力，同时在航空舵机、伺服阀，以及机器人关节的直接驱动、雷达天线等领域具有广阔的应用前景。 论文详述了系统的工作原理与控制思想，以及系统方案的设计和各组成部分的功能与实现方法。提出并实现了系统双极性输入控制信号采样、编码器反馈信号与单片机接口、输入信号与反馈信号的量纲统一化、零位定位、以及逻辑驱动等处理方法。 作者设计了电路原理图，完成了系统软硬件设计、调试，和对系统原理样机性能的测试。在控制软件的设计上，采用模块化程序设计方法，充分利用单片机内部提供的A／D功能、中断功能、PWM功能、软件定时器等功能，设计出了A／D采样子程序、读编码器信号子程序、定位中断服务子程序、Z中断服务子程序、软件定时器中断服务子程序等模块化程序。不仅使程序结构清晰，而且也提高了系统的实时性、可靠性和精度，同时节省了系统软件调试时间。样机测试结果表明系统性能达到设计指标要求。 通过对连续域—离散化设计法、解析设计法、模糊控制设计法等几种控制器设计方法的研究与软件仿真，从理论上对系统作了进一步的探索和分析。 最后，总结出作者在系统设计调试时所遇到问题、解决措施和个人心得体会，并且对本系统的应用前景及实际意义也进行了分析与展望。更多还原

【Abstract】 A new-style missile actuator servo control system is studied in the dissertation. The system is a Digital Limited Angle Brushless DC torque motor control system with a control core of 80C196KC MCU (micro chip computer). It has the characteristic of non-gear-box, large output torque, small volume, easy control, fast response, high track precision, high reliability etc. The system has potential advantages over substituting for traditional hydraulic or pneumatic missile actuator servo control system and has wide prospect in the fields of aerial actuator, servo valve, robot, radar antenna etc.The system’s operation principle, control idea, functions and realization of each component are discussed in detail. The methods of determination bipolar inputting control signal, optic-electron coder feedback signal connecting with MCU, dimension’s unity of inputting signal between feedback signal, zero position orientation, and logical drive are proposed and realized.The author schemes out the system’s principle circuit, and completes the design, debug of hardware and software, test of the prototype performances. In the designation of software, the author adopts the modular designing method, and makes full use of the functions what the MCU offers, such as A/D function, interrupt function, PWM function, and software timer function. As a result, the following subroutines are programmed: A/D sample, read optic-electron coder signal, disposition of orientation interruption, Z interruption, and software timer. These designs not only simplified the program structure, but also improved real-time performance, security, and precision of the system. Moreover, the time of debug the system’s software is saved. The design aim is achieved through the testing of the prototype performance.The system is analyzed deeply in theory through discussion and simulation of the several controller design methods, including the continuous-discrete field designation, the mathematic resolution, and the fuzzy control design methods.Eventually, the problems, solutions and the personnel experience in designing and debugging are summarized. The application prospect of the system is presented.更多还原