【作者】 邱仁贵；

【导师】 李铁才；

【作者基本信息】 哈尔滨工业大学 ， 电气工程， 2009， 硕士

【摘要】 舵机系统作为高精度的位置伺服系统,主要应用于航天及军事等一些特定场合。ASIC(专用集成电路)控制相对DSP,FPGA等控制来说,在提高系统性能和可靠性的同时,可以减小系统体积,降低功耗,提高系统的集成度。论文以四轴舵机位置伺服系统为工程背景,对基于ASIC的舵机控制SoC系统进行研究。论文首先分析了舵机系统控制原理,从伺服电机,调制方式,位置检测等角度出发,建立了舵机系统的数学模型,基于系统模型,确立采用位置环、速度环和电流环结合的三环控制策略。并针对每一环路的不同特点,采取合适的控制算法。其次,具体分析研究速度环和位置环控制算法。舵机系统采取电位器作为位置传感器,速度反馈通过对位置信号不完全微分获取,速度环采取PDFF控制。位置环由于减速器、无刷直流电机等非线性因素影响,探索智能算法加PID的控制方式。并分别搭建Matlab/Simulink仿真模型,验证控制算法的性能。再次,从电流环角度出发,分析电流采样策略。针对电机控制系统电流环特点,研究并设计一种适宜于数字电流环的片载ADC,能方便地集成于电机控制ASIC。该ADC主要由锯齿波发生电路、采样更新模块、数字编码模块等组成。设计数字带阻滤波器消除电流环存在的一些干扰因素。给出电流环PI控制的算法实现过程。实验结果表明,本文所设计的电流环ADC能很好地满足电机控制系统电流环要求。最后,从系统角度出发,研究ASIC设计过程,给出ASIC的实现结果。进行系统试验,分析试验结果,结果表明基于ASIC的舵机系统具有较好的性能。更多还原

【Abstract】 Steering system mainly applies in the aerospace, military and other special occasions as high-precision position servo system. Compared with FPGA or DSP control, the ASIC(Application Specific Integrated circuit) control not only improves system performances and reliability, but also reduces the volume of system and the power consumption. Taking the four shafts steering position servo system for engineering background, the dissertation researches on steering control system of SoC implemented by ASIC.Firstly, the paper analyzes the work principle of steering system, including servo motor, modulation mode and position detection method. Then the mathematical model of the steering system is established. Based on the system model, three-loop control strategy with position loop, velocity loop and current loop is adopted. According to the different characteristics of each loop, the appropriate control algorithm is chosen.Secondly, the control algorithms of speed loop and position loop are disucussed. Velocity loop adoptes PDFF (Pseudo Derivative Feedback +Feedforward) control. Position loop explores intelligent algorithm with PID. And the Matlab/Simulink simulation model is set up to verify control performance of the algorithms.Thirdly, current sample strategy is analyzed. According to the characteristics of motor control system, an ADC suitable for digital current loop is designed and can easily integrate into motor control ASIC. The ADC consists mainly of sawtooth wave generator, sampling update module, digital coding module. Digital band-stop filter and PI controller are also designed. Experimental results show that the designed current loop ADC can well satisfy the current loop’s request of motor control system.Finally, from the aspect of system, ASIC design process is researched. And system test is finished on the ASIC platform, the results show that the system has good performances.更多还原