基于DSP双轴稳定控制平台设计

【作者】 胡浩；

【导师】 刘晓利；

【作者基本信息】 南京理工大学 ， 检测技术及自动化装置， 2007， 硕士

【摘要】 本文研制了基于DSP的双轴稳定控制平台，阐述了平台设计要求、设计方案和实现方法。该平台主要应用于框架式导引头。框架式导引头通常采用直流电机作为力矩器，考虑到步进电机有定位精确、容易控制的特点，本文尝试了步进电机驱动方案。平台由摇杆控制器、主控板、驱动器和框架式光学系统四个部分组成。本文叙述了控制回路工作原理和主控板的软硬件设计。主控板以TMS320F2812为微处理器，ADS7852为模数转换器；控制律采用基于Z-N公式的积分分离增量PID算法。程序设计采用模块化方法设计，主要由ADC采样、串口通讯、控制算法实现、电机驱动四个模块组成。本文从理论上建立了控制回路仿真模型，进行了MATLAB仿真，验证了控制回路正确性。最后对平台进行了模拟性能测试，测试结果表明，平台运行良好，性能达到设计要求。同时表明了步进电机驱动方案的可行性。平台个别环节有待进一步优化和完善。更多还原

【Abstract】 This thesis designes a stable platform with two axes based on DSP, describing itsrequirement and target, as well as the realizing method. This platform is mainly used tocontrol the optical axis of frame TV-guided aimer to be stable. DC motor is often selectedas the torquer, however, step motor is character of precise locating and easy controlling,so the target with step motor has been implemented.The platform consists of four main parts: rocker, controller board, motor drivers andframe optical system. This thesis gives a particular description on the hardware andsoftware design of controller board, on which the MCU is Tms320F2812 and the ADC isADS7852.The control method, with respect to the software, is integral-separated PIDbased on Z-N formula.Program on board, including four modules: sampling data, serial communication,processing data and driving motors, is designed in a module manner. This thesis executesa simulation of platform modle in MATLAB,the result shows that the modle is valid. Atlast, Some tests are implemented, the platform performes well as expected, althoughsome parts are still to be perfected.更多还原