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基于DSP的弹上舵机控制系统的设计
Design of the Steering Engine Control System for Missiles Based on DSP
【作者】 侯晓松；
【导师】 盛英；
【作者基本信息】 西安电子科技大学 ， 机械制造及其自动化， 2008， 硕士
【摘要】 弹上舵机系统是一个高精度的位置伺服系统,它是导弹控制系统的执行机构,也是导弹飞行控制系统的重要组成部分。本课题的研究目的是设计一种能对弹上舵机进行精确、快速实时控制的数字化控制系统。本文设计的舵机系统主要包括舵机控制器和由稀土力矩电机以及谐波减速器组合而成的舵机驱动机构。为了改善弹上舵机控制系统的动态和稳态性能,提高系统响应速度和控制精度,主要完成了以下工作:首先,本文介绍了舵机控制系统的构成以及无刷直流电机(BLDCM)的工作原理,建立了无刷直流电机的数学模型。其次,根据舵机系统的特点,将模糊控制适应性强和PID控制稳态误差小等优点结合起来提出了适合本系统的模糊自适应PID控制算法。将舵机的实时舵偏角度与给定目标角度的误差以及误差的变换量进行了合理的智能分级。用模糊控制器取代传统的舵机控制器用以改善舵机的控制性能,提高系统的动、静态响应。在构建出了基于模糊自适应PID控制的舵机位置控制系统的基础上,运用MATLAB/SIMULINK平台对其控制系统进行了模拟仿真。最后,在研究了TMS320F2812DSP器件的软硬件结构及其控制电机的特点的基础上,设计实现以DSP为核心的四路舵机控制系统。通过通信总线将舵机的运行状态数据实时上传至上位计算机,采用Matlab设计的评测软件对舵机系统进行了离线分析。
【Abstract】 Missile steering engine system is a high-precision servo system, which is the implementation of the missile control system, and it is also an important component part of missile flight control system. The purpose of the study of this topic is to design a missile steering with precise, rapid real-time control of the digital control system. Steering system is mainly from the steering servo controller and driver institution which is composed by thulium motor and harmonic drive.In order to improve the steering engine control system’s dynamic and steady-state performance, improve system response speed and torque control accuracy, this paper mainly completed the following work:First, the study of the paper from the steering engine drive and the composition of the work principle, establish a BLDCM the mathematical model and simulation modeling it.Secondly, according to the steering engine system characteristics and combining with the advantages of fuzzy control’s strong adaptability and PID control’s small steady-state error, this paper presents the system for the fuzzy PID control algorithm. The error of real-time steering engine angle between target angle and the transformation of error get a reasonable intelligent classification. Using fuzzy controller to replace the traditional steering servo controller to improve the control performance and get better of the dynamic and static response. In a building based on fuzzy PID control of the steering position control system, we use MATLAB / SIMULINK platform to conduct its control system simulation.Finally, in the study of the TMS320F2812DSP device’s structure of hardware and software and the characteristics of motor control, on this basis we design a DSP-core quad servo control system. Communication bus will messages the operational status of real-time data upload supremacy into the computer, and using Matlab software to Off-line analysis and evaluate the steering engine system.