【作者】 邢卓异；

【导师】 朱齐丹；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 随着光电监视、跟踪、侦察系统使用要求的不断提高，对光学图像的稳定要求也日趋严格。光电平台技术是以机电一体化、自动控制技术为主体，多个学科有机结合的产物，具有很广阔的应用前景，其研究必成为热点。 首先，本文阐述了光电平台系统硬件电路设计。文中详细阐述了伺服控制系统中数字信号处理器(DSP)及其外围电路设计、通讯电路设计和驱动电路设计。针对陀螺供电和输出信号的特点，给出了数字式SPWM陀螺供电电源设计电路和改进的平均值包迹检波器设计电路。对直流PWM功率放大器常用控制模式特性进行了分析，并对双极模式下电机电枢电流进行了定性分析。 其次，本文给出了系统实际调试阶段所采用的积分分离PID控制器设计、软件流程和调试结果。调试过程中，光电平台伺服控制系统加入超前校正环节以改善系统的幅相特性。同时，针对调试结果对所采集的陀螺信号进行低通滤波，系统控制精度明显改善。 最后，本文针对传统PID控制器的不足 设计并仿真了智能控制算法和PID控制算法相结合控制器。复合轴PID控制器将传统的单伺服控制回路设计成为主伺服控制回路和子伺服控制回路两个控制回路来提高系统的控制精度，同时解决了高阶系统和稳定性之间的矛盾。二自由度IMC_PID是将传统二自由度PID控制器与内模控制器相结合的控制器，该控制器较常规PID控制具有调节参数少，可单独调节跟随性能和抗干扰性能，同时控制器可以对控制对象的模型失配进行一定程度上补偿的特点。基于神经网络专家系统的控制器是将神经网络控制器、专家系统控制器和传统PID控制器相结合的控制器，在建立了整个控制系统的数学模型的基础上，该控制器能够根据系统状态在线自动调节控制器参数，控制效果十分理想。更多还原

【Abstract】 With the gradual improvement of requirement on optoelectronic scrutiny system, optoelectronic tracking system and optoelectronic reconnaissance system, the demand on the stability of optical image is becoming much stricter. The technology of optoelectronic platform which is the combination of several subjects takes mechatronics and automation technology as the principal parts. Since the technology of optoelectronic platform has capacious appliance foreground, the research on it must become a hotspot.Above all, the paper expatiates the hardware circuitry design of optoelectronic platform system. The following parts are expounded in the paper: the design of DSP in servo system and its periphery circuitry as well as the design of communication circuitry and driver circuitry. According to demand of gyro power supply and the characteristics of output signal, it is presented the design circuitry of digital SPWM gyro power supply and improved average modulation cymoscope. The analysis of control mode character of direct current PWM amplifier and the qualitative analysis of electromotor armature current under bipolar mode can be obtained in the thesis.Secondly, the paper presents integrate separate PID algorithm, software flow and experiment result. According to debugging result, the system control precision is obviously ameliorated by two steps: one is to add the anticipatory emendation to improve the amplitude and phase characteristic of the system, the other is to filter of the gathered gyro signal.Finally, aiming at the deficiency of traditional PID algorithm, the paper illustrates the design and simulation of the combined controller of intelligent algorithm and PID algorithm. Compound Axis PID algorithm transfers the traditional single servo control circuit to a system with a main servo control circuitry and a sub-servo control circuitry in order to enhance the control更多还原