【作者】 夏晓峰；

【导师】 李军；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 硕士

【摘要】 气动技术与电子技术的有机结合,使得气动伺服技术产生了实质性的飞跃。数字信号处理器即DSP以其性价比高、体积小、运算速度快等优点,很大程度上拓展了数字信号处理技术在自动控制领域的应用。目前,基于DSP的气动伺服技术大多局限于实验阶段,很少应用于工业化自动化生产中。针对气动伺服系统的非线性强、固有频率低、刚度低、阻尼小等特点,提出了气动伺服控制器软件的设计要求。以合众达公司的DPS2812M开发板为硬件基础,完成了A/D、D/A、以太网、EEPROM、液晶显示器、键盘、FLASH、控制算法等模块的程序设计。提出了用于气动伺服系统的上下位机和控制器独立控制两种控制模式,完成了相应控制器软件的开发。在上下位机模式中,上下位机间通过以太网进行通信。使用LABVIEW编写了上位机程序,实现了在上位机设置系统参数和观察系统运行情况的功能;采用C语言开发了下位机程序,实现控制器对系统的参数设置、自动控制和手动控制等功能。在控制器独立控制模式中,采用C语言开发了控制器程序,实现了键盘控制和LCD显示功能,使控制器直接通过键盘操作就可以完成控制功能。搭建了气动伺服控制器测试实验台,运用数字PID算法,分别以阶跃、斜坡和正弦为输入信号对两种模式下的控制器性能进行了实验研究,实验结果表明设计的两套控制器软件均实现了较完备的控制功能,并达到了良好的控制效果。两套控制器软件在运行时间上尚有较大剩余,可以通过函数接口添加复杂的控制算法。更多还原

【Abstract】 The organic integration pneumatic technology and electronic technology, motivates the pneumatic servo technology to develop greatly. Digital signal processor, DSP for short, expands the DSP’s application in the automatic controlling area greatly by its cost-effectiveness, small size and fast operation. At present, many of these studies limited to the experimental stage, and also rarely used in the production of industrial automation.The requirement for designing the pneumatic servo processor is brought forward in allusion to its non-linearity, low inherent frequency, low stiffness and small damp. This paper designs a DSP-based pneumatic-servo controller software which take DPS2812M developing board as the hardware foundation. (DPS2812M developing board is produced by HeZhongDa Company) This design fulfills the procedure design of modes of the A/D, D/A, Ethernet, EEPROM, LCD monitors, keyboards, FLASH, controlling arithmetic, etc.This paper brings forward two kinds of controlling modes which will be applied to the upper-subordinate computer and the controller separately and independently, meanwhile, it fulfills the development of the correspondent controller software. In the upper-subordinate computer mode, their communication is carried through by the Ethernet. It compiles the upper computer program by LABVIEW, and enables the systematic parameters to be set on the upper computer and to observe the system’s running conditions. It compiles the subordinate computer by C language, and enables the controller to set up the parameters of the system, and to make the automatic control and manual control come true. For the controller, we adopt C language to develop the controller program, and make the function of keyboard-control and LCD display come true. In that case, the controller can carry out the controlling function directly only by operating the keyboard.The experiment platform is set up for pneumatic servo processor tests. Exert the digital PID arithmetic, taking the phase step, slope and sine as the input signals to do the experiment research on the two patterns of controller. The result of the experiments shows that the controller softwares, both of which have realized more complete controlling function, and obtained excellent controlling effect. There is surplus for the operating time of the two controlling softwares, so we can add the complicated arithmetic by customer control routing.更多还原