基于DSP的某型发射装置伺服系统研制

【作者】 胡双武；

【导师】 李军；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 随着计算机技术和交流电机调速技术的飞速发展，现代数字交流伺服系统的发展也是日新月异，各种新的控制方法和调速手段得以应用在实际控制系统中，使得现代伺服系统朝着小型化、智能化、高速高精度方向发展。本文旨在为国内某型号发射装置研制开发一套伺服控制系统。 本文中的伺服系统控制对象具有特大转动惯量的特点，战技指标对控制精度和响应速度等要求较高。根据系统需要，选取大功率的驱动设备做为系统的执行机构。大功率稀土永磁交流伺服电机与其驱动器组合，配合速比适当的动力减速器，驱动发射架运转。采用高精度双通道旋转变压器作为发射架的位置检测装置，实现了闭环控制系统中位置信息的反馈。以DSP为处理器的伺服控制卡是伺服系统的信息处理中心，充分发挥了DSP处理速度快，适合复杂算法的特点。伺服控制卡接收火控计算机发出的目标位置指令，采样发射架实际位置信息，通过控制算法得出控制量，驱动电机运转，实现发射架位置的跟踪运动。 伺服系统中的控制软件存储在DSP芯片中，主要由信号采集、发送、数据处理和控制算法部分组成。信号采集和发送包括和火控计算机之间的信息交换，以及实际架位的获取；数据处理是对各种信号取真值、滤波等操作；控制算法部分则只负责控制量的计算。由于系统的负载惯量大，控制精度高、速度快等特点，传统PID算法已远不能满足性能要求。为达到提出的各项指标，系统采用了智能PID算法和前馈补偿控制算法组合的复合控制算法，极大地提高了系统性能，在跟踪各种典型信号时，都取得令人满意的控制效果。 伺服系统实际安装后，经过调试，其性能指标已经达到或超过项目初所提出的要求，本伺服系统的研制取得了成功。更多还原

【Abstract】 By the rapid development of computer technology and AC motor timing technology, modern digital servo system has been changed a lot. New control algorithm and timing method have been used in modern servo system, making them small, intelligent, high-speed and accurate. Main task of this paper is to design a sevro system for a launcher.The control object of servo system in this paper has great inertia; meanwhile high accuracy and response speed are required. According to the system requirement, a big power driver is choosen as executer. The AC motor makes the launcher work, combining with its power supply and power reducer. High accurate double channels rotary transformer is the position detecter of the launcher, feeding back the position information of the closed-loop control system. Because the great calculation speed and ability in complex algorithm, DSP chip is the information disposal center in the servo card. Servo card receives target position information, samples the launcher position, calculates control value, sends it to motor driver, and then makes the launcher work under control.Control program is storaged in DSP, including signal acquisition, transmission, data disposal and calculation of control value. Signal acquisition and transmission exchanges information with control computer, and receives true position information. Algorithm calculates control variable, after data disposal part obtained and filtered the real information. Because of the great load inertia, high accuracy and speed, traditional PID algorithm does not work well. In order to realize the performance required, the compound algorithm is used, which made up of intelligent PID and forward-feedback compensation algorithm Servo system has got a satisfied performance under typical signal.After installation and debugging, the performance of servo system satisfied and exceeded the technice indexes. The servo system is successful.更多还原