框架式导引头数字控制器设计

【作者】 王旭；

【导师】 刘晓利；

【作者基本信息】 南京理工大学 ， 导航、制导与控制， 2008， 硕士

【摘要】 本文研究设计了框架式导引头数字控制器,阐述了框架式导引头稳定跟踪平台的设计要求、设计方案和实现方法。考虑到直流力矩电机有响应快、精度高、线性度好的特点,本课题采用直流力矩电机作为力矩器。框架式导引头稳定跟踪平台由光学成像系统及CCD摄像机、图像处理机、万向支架、力矩电机及反馈装置、控制器五部分组成。其中控制器是本课题研究的对象,它包括控制计算机、采样信号调理电路及驱动电路三部分组成。本文着重研究了控制回路工作原理和控制器的软硬件设计。控制器以TI公司推出的TMS320F2806 DSP为核心,采用片内ADC采样输入信号及反馈信号,片内ePWM模块输出两组(共4路)PWM信号,经功率放大集成电路L298驱动俯仰、方位两个轴上的直流力矩电机。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、PWM驱动、控制算法实现三个模块组成。从理论上建立了控制回路仿真模型,进行了MATLAB仿真,验证了控制回路的正确性。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。更多还原

【Abstract】 This thesis studied and designed a frame pattern guided aimer digital controller, described the requirement and target of the frame pattern guided aimer stable track platform designing, as well as the realizing method. Considering DC torque motors have good characters like quick respond, high precision and smooth modulation. This thesis selected DC torque motor as the torquer.A frame pattern guided aimer stable track platform consists of five main parts: optical imaging system& CCD camera, image processor, universal framework, torque motors& feedback devices and controller. The controller is the object of this paper, it includes control computer, sample signal adjust circuit and drive circuit. This thesis studied theory of control loop and hardware and software design of the controller emphatically, on which the core is TMS320F2806 DSP released by TI Inc. The board uses on-chip ADC to sample control signals and feed- back signals, generates 2 groups (4 in total) PWM waveforms by on-chip ePWM module, driving two DC torque motors at the pitching and azimuthal axes through the power amplifying integrate circuit. The control method, with respect to the software, is integral-separated PID based on Z-N formula.Program on controller, including three modules: sampling data, PWM driving and processing data, is designed in a module manner. This thesis executes a simulation of platform model in MATLAB, the result shows that the model is valid. At last, some tests are implemented, the platform performs well as expected.更多还原