【作者】 陈康康；

【导师】 阮文俊；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 本文讨论了嵌入式系统在超近程反导随动系统中的应用，推导了系统的传递函数，设计了冲激函数和PID控制相结合的控制策略，并进行仿真。选择合适的驱动与控制机构，设计相应的硬件接口，初步搭建了随动系统模拟平台。编写基于uC/OS-Ⅱ操作系统的控制软件，基本上完成了随动系统模拟平台实时控制的初步设计。主要内容如下：(1)设计控制算法根据超近程反导的特点，设计了冲激函数和PID控制相结合的控制策略，在系统启动时给其加上较大的脉冲电压使系统快速启动，然后采取PID控制，对系统进行微调。(2)搭建随动系统模拟平台随动系统模拟平台选用三星公司的S3C44BOX作为处理器，在ARM开发板的基础上扩展了控制平台的外围电路，设计了相关的接口，完成了嵌入式控制平台的硬件设计；并且设计了电机驱动模块，选择合适的直流伺服电机、减速器及光电编码器，初步搭建了随动系统模拟平台。(3)设计控制软件完成了基于uC/OS-Ⅱ实时操作系统的控制软件，包括下位机的通信任务、PWM脉冲输出任务、控制任务、主程序。经过软硬件综合调试，整体设计满足要求。更多还原

【Abstract】 This thesis discuss the application of the embedded system in the super-short-range antimissile servo system. Derive the transmission function of the system, design the control strategy that combine impulse function with PID, and carry on emulate. Choose the suitable drive and control mechanism, design the correlative hardware interface, make up the simulate servo system preliminary. Write the software under the operating system of uC/OS-Ⅱ. Finish the preliminary design of the real-time control of the servo system basically. The majoy content as follows:(1) Design the control algorithmAccording to the characteristic of the super-short-range antimissile, design the control strategy that combine impulse function with PID, add superior pulse voltage when the start-up of the system in order to satisfy the rapid start, then take the PID control strategy.(2) Build the simulate servo systemThe simulate servo system choose the S3C44B0X as processor, enlarge the periphery circuit of the servo system platform, design the correlative hardware interface, finish the design of the hardware of the embedded system. And design the motor driver module, choose the suitable direct current servo motor, reducer and photoelectricity coder, make up the intact simulate servo system platform.(3) Design the control softwareFinish the software of the system which is writen under the real-time operating system of uC/OS-Ⅱ, including the communication task, the output of the PWM pulse task, the servo control task and the main program. Through the comprehensive debugging of the software and hardware, the global design meets the index request.更多还原