【作者】 刘华峰；

【导师】 熊诗波；

【作者基本信息】 太原理工大学 ， 机械电子工程， 2008， 硕士

【摘要】 电液位置伺服系统具有控制精度高、响应速度快、输出功率大、信号处理灵活、易于实现各种参量反馈等优点,因此它已经遍及国民经济和军事工业的各个技术领域。近年来,对电液位置伺服系统的快速性、稳定性、准确性等控制性能提出了新的要求,作为电液位置伺服系统核心的控制器,起到更为关键的作用。现阶段,嵌入式微处理器以其小型、专用、便携、高可靠的特点,已经在工业控制领域得到了广泛的应用,如工业过程、远程监控、智能仪器仪表、机器人控制、数控系统等,嵌入式微处理器嵌入实时操作系统,可以克服传统的基于单片机控制系统功能不足和基于PC的控制系统非实时性的缺点,其性能、可靠性等都能满足电液位置伺服系统控制的要求,在控制领域具有广泛的应用前景。本文以实验室的电液位置伺服系统为研究对象,按照系统的控制要求,提出以ARM9(S3C2410)微处理器为核心的控制器对电液位置伺服系统进行控制的一种方案,设计了一种新型的基于ARM9(S3C2410)微处理器的电液位置伺服控制器。本系统控制器的开发设计中,在以ARM9(S3C2410)微处理器为核心的控制器基础上,通过外部扩展,使得系统控制器具有丰富的硬件资源,开发了A/D转换电路、D/A(PWM)转换电路、伺服放大电路、串行接口等电路,同时为了使得控制器的程序代码具有较强的可读性、可维护性、可扩展性,使用了操作系统,通过比较选择了uC/OS-Ⅱ实时内核,并成功移植到ARM9(S3C2410)微处理器中,并编写了A/D、数字滤波、D/A(PWM)等软件程序,通过编译、调试、验证,程序运行正常。在对电液位置伺服系统进行控制策略的选择中,分别采用PID、滑模变结构、模糊自学习滑模三种控制策略进行仿真比较,得出采用模糊自学习滑模控制策略更有利于系统控制。更多还原

【Abstract】 Electro-hydraulic position servo system has a lot of trait,such as high control accuracy,quick response speed,big output power,flexible signal process and easy realization feedback of various quantity etc,Therefore it has already spread over each technique realm of national economy and military industry.In recent years,some new requests in the Electro-hydraulic position servo system control aspect are brought forward,such as speediness,stability,accuracy.In order to realize those points,the controller is regarded as the core of Electro-hydraulic position servo system,control function is more key.Currently,Embedded Microprocessors with miniaturization,special use,convenient hold and high dependable characteristics have already gotten extensive application in the industry controlled realm,such as industrial process,long distance supervision,intelligence instrument,robot control and numerical control system etc.Real time operate system is embedded in the Embedded Microprocessors,it can overcome function shortage based on MCU control system and the weakness of non-real time based on PC control system. Its capability,dependability can satisfy control request of Electro-hydraulic position servo system,It will have extensive applied foreground in the control realm.Electro-hydraulic position servo system in the laboratory is regarded as research object,according to control request of system,a control scheme is brought forward in the thesis.that is to say,Electro-hydraulic position servo system is controlled by the core of Embedded system and a new Electro-hydraulic position servo system controller core is designed based on ARM9 microprocessors.In the development design of system controller,on the basis of ARM9(S3C2410)microprocessor,system controller has abundant hardware resources through exterior expandability,such as ADC circuit,DAC (PWM)circuit,servo enlarged circuit,serial interface circuit,at the same time,operate system is chosen in order to make procedure code stronger readability,maintenance and expandability,uC/OS-Ⅱis chosen through comparison and is transplanted ARM9(S3C2410)microprocessor successfully, then A/D collection In fixed time,the numeral filter wave,D/A(PWM)program etc are written,those procedure Pass edit,debugging,verification and run normally.In the choice process of control means,PID,sliding mode and fuzzy self-learning sliding mode are compared through the analysis result of three kinds of control means,fuzzy self-learning sliding mode is displayed to advantage in control system.更多还原