高速高精度高炮数字伺服系统研制

【作者】 曾森；

【导师】 王执铨；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 随着世界军事高技术的迅猛发展，数字化、信息化、网络化技术在武器装备发展中得到了广泛的应用，并使武器装备的性能得到大幅度提高。鉴於此，海军装备部要求我们研制以工控机作为数字控制器、以KOLLMORGEN驱动器为放大器、以稀土三相永磁交流同步伺服电动机为执行电机的高炮数字伺服系统。 本论文就是在这一工程背景下进行的。主要完成了以下工作： 一、根据项目提出的要求，对数字伺服系统进行了总体设计。选择研华IPC610工控机、KOLLMORGEN的BDS5T变频放大器和相应的永磁同步伺服电动机搭建了数字伺服试验台，设置了所有设备的相关参数，并自制了一块ISA总线数据采集卡和一块外围输入输出接口卡，以实现工控机与外围设备的联系。 二、分析了现代数字伺服系统的结构和原理，建立了本数字伺服系统的数学模型，提出并详细论述了时间最优一等减速一分段变参数PID和前馈控制的复合控制算法，并进行了Matlab下的仿真分析。 三、利用VToolsD开发了自制ISA总线数据采集卡的虚拟设备驱动程序，采用虚拟中断技术实现了Windows环境下操作系统对硬件的实时控制，并结合实验台进行了数字伺服系统软、硬件的联合调试和实验。 四、参与了智能加载系统的研制工作，利用智能加载系统对数字伺服系统进行了各种典型负载下的实验测试，更真实地模拟了火炮调转、跟踪和发射时的运动状况。 实验结果表明，本课题研制的数字伺服系统性能指标达到了设计要求。数字伺服系统结构先进，人机界面友好，控制算法实用，并具有较强的鲁棒性，为指挥自动化系统深入到武器装备最底层、实现网络控制提供了必要条件。更多还原

【Abstract】 The performance of contemporary weapon systems has been enhanced by the development of military high-tech and the extensive usage of digital technology. The research of alternating current digital servo system with permanent magnetic electromotor and KOLLMORGEN drives based on industrial computer and windows operating system was required by the Weapon Department of the Navy.We have finished these tasks during the research: 1.We have designed a digital servo system agreeting to the Navy’ s requires, selected the parts and set up their parameters fully. In order to access the servo system’ s hardware we have developed a ISA (Industrial Standard Architecture) card by ourself.2. We have analyzed the architecture of modern digital servo system and proposed a complex control method. The principle of it was analyzed and simulated with Matlab6. 1.3. A VxD(Virtual Device) of the ISA card is designed and a real-time servo control system under windows 9x operating system is realized with the virtual interrupt technique.4. In order to measure the performance of the servo system extensively we have developed an intelligent loading system and have tested the servo system with different typical loads.The servo system runs well in the experiments with a friendly user interface and can be operated conveniently. The ends of the tests mean that the digital servo system has fulfilled the targets proposed by the Navy.更多还原