基于DSP的导弹舵机伺服控制系统的研究

【作者】 林忠万；

【导师】 谢利理；

【作者基本信息】 西北工业大学 ， 电力电子及电力传动， 2004， 硕士

【摘要】 导弹舵机是导弹飞行控制系统的执行机构，导弹的各种姿态运动都是靠舵机带动舵面偏转来实现的。 本文研究了新型全数字导弹电动舵机伺服控制系统的设计问题，该系统使用了高性能数字信号处理器(DSP)和脉宽调制(PWM)技术实现四台无刷直流电机(BLDCM)的集中控制。论文在分析了舵机系统的工作原理基础上，重点研究了BLDCM的调速方法与控制策略，对BLDCM的转矩脉动产生原因及其抑制方法也进行了详细分析与探讨，给出了单DSP控制四个相互独立工作舵机的控制算法，并提出了整个舵机位置伺服控制系统的设计方案。 其次论文在详细介绍舵机控制系统的硬件设计基础上，完成了系统软件设计，并采用了位置环、转速环和电流环的三环控制算法实现了舵机位置伺服功能，对传统PID和比例—模糊—PID控制算法在舵机控制系统中的实际应用效果进行了比较分析。 最后本文分析了影响系统性能的各种因素，并对此提出了具体的改进措施。更多还原

【Abstract】 Missile rudders are executive bodies of missile flight control system, all kinds of attitude motion of missile are depended on the actuator driver fins of rudders.All digital electromechanical missile actuators servo system is studied in this paper, in which the high quality Digital Signal Processor (DSP) and Pulse Width Modulation (PWM) techniques are used to realize the centralized control of four permanent magnet brushless DC motors (BLDCM). Based on analyzing the operational principles of actuators system, the control strategy and speed regulation of BLDCM are described emphatically, and the reason of its torque ripple and the way to eliminating or suppression are analyzed and illustrated, The control algorithms of single DSP to control four actuator of rudder which work independently have been studied, and the design schemes are given.The software designs of the electrical servo system are completed using position loop, speed loop and current loop adjustment after the hardware designs are presented in details. Also the efficiency of traditional PID control in practical actuator control system is compared with that of proportional-Fuzzy-PID control.At the end of the paper, all factors to affect system performance are analyzed, and optimization designs are presented.更多还原