【作者】 刘涛；

【导师】 邓燕妮；

【作者基本信息】 武汉理工大学 ， 检测技术与自动化装置， 2007， 硕士

【摘要】 交流伺服控制器是火炮随动系统的执行机构，它直接关系到火炮的打击精度。本文针对火炮随动系统的高性能位置伺服要求，设计了一套基于德州仪器TMS320LF2407A DSP (Digital Signal Process)芯片的全数字交流伺服系统。同时分析了其结构组成、控制方案、控制器软件和硬件设计等问题。该系统以交流永磁同步电动机作为伺服电动机，采用三闭环的控制策略，实现位置的高性能跟踪。本设计工作是以从保加利亚引进的DS15 SERVO MODULE系统为蓝本进行的。硬件方面，在原保加利亚系统的基础上，进行了重新设计。保加利亚系统提供了控制软件的原代码，编译后不能运行，但直接采用其提供的编译后的代码可以运行。本系统的软件是在其提供的原代码基础上重新编写的。本文首先对交流永磁同步电动机伺服系统的发展概况进行了介绍，然后对交流永磁同步电动机的数学模型、工作原理以及矢量控制在交流永磁同步电动机上的应用进行了说明。在硬件设计部分，阐述了以TMS320LF2407A DSP芯片为核心的伺服系统的构建过程，并对其中比较关键的部分进行了详尽的分析。在软件设计部分，详细描述了嵌入式实时操作系统μCOS-Ⅱ及其在TMS320LF2407A DSP芯片上的移植，多任务的划分和调度以及各任务的功能流程，并给出了部分源代码。在控制算法上采用经典的三环控制策略，采用传统的PID算法，其中位置环采用比例调节算法，速度环和电流环采用比例积分调节相结合的算法。最后对全文进行了简明的总结，并对该领域在未来的发展做了展望。初步调试结果表明，采用以上的设计方案可以较好地达到位置跟踪效果。尤是移植了μCOS-Ⅱ实时操作系统以后，软件的可靠性、实时性和可扩展性都得到了极大的提高。本课题在技术上取得了一定的突破，由于采用了嵌入式实时操作系统，系统软件可按照多任务的方式来编写，从而将设计难点分散，简化并加快了伺服控制器应用程序的开发，并可以方便的进行功能扩展。更多还原

【Abstract】 AC servo controller is the executive part of artillery system, it is close to the attack precision of the artillery. In this paper, a set of fully-digital-signal AC servo system based on TMS320LF2407A DSP (Digital Signal Process) which is made by TI company is designed according to the high accuracy position request and analyzes its structure, control method, the hardware and software are analysed also. This system with AC permanent magnet motor as servo motor adopts three-loop control strategy to achieve high performance position tracking.The designing work is based on the DS15 SERVO MODULE which was introduced from Bulgaria.The hardware is redesigned with the base of Bulgaria original system. It included NC circuit and drive circuit and the hardware designing has made some adjustments. Bulgaria source code of control software can not run after compilation .However , the code which has been compiled can run directly. The establishment of the system software is rewrited basing on the original code.In this paper, the development of servo system based on AC permanent magnet synchronous motor is presented in brief firstly. Then mathematical model and vector control principle in the application of permanent magnet synchronous motor are analyzed. In the designing of the hardware, it explains the constructive source of the whole system with the kernel of TMS320LF2407A DSP and makes full analysis to the pivotal sections.In the designing of software, it describes the transplantation on TMS320LF2407A DSP of embedded operation systemμCOS-II, the partition and allocation of the tasks and the function flowing of each task in detail. The system adopts the traditional PID arithmetic and the classic three-loop control method.P algorithm is used in position loop control, PI algorithm is used in velocity loop and current loop.The initial result shows that the control strategy could achieve a better position trail, and the reliability, real-time and expansibility of the software is improved greatly after transplanting theμCOS-II. Finally,it summarizes the whole paper concisely, and prospects the research direction in this field in future.The preliminary debugging result indicated that useing the design scheme above can achieve the good position track effect, especially after the transplantation on TMS320LF2407A DSP of embedded operation systemμCOS-II , reliability, realtime and extension of software all enhance enormously. The software can be prepared according to the task because of using the embedded real-time operating system.So designing difficult is scattered ,application procedures of the servo controller is simplified and speeded up, the expansion of the function is facilitatede too.更多还原