用于无人化平台的伺服系统研究与设计

【作者】 梁卫红；

【导师】 戴跃伟； 葛龙；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 随着科学技术的飞速发展,无人化平台已经应用到许多人类无法到达或不宜生存的区域。为使无人化平台在这些区域完成较为复杂的作业,迫切需要研究性能更为优越的伺服系统,使无人化平台动作更为灵活,反应更快,智能程度更高。随着计算机技术和交流电机调速技术的飞速发展,各种新的控制方法和调速手段得以应用在实际控制系统中,使得现代伺服系统有了更广阔的发展前景。本文旨在设计并研制一套用于无人化平台的伺服系统。在分析了系统的总体结构及各项性能指标的基础上,对执行电机进行了预选型,并根据实际参数的计算验证了执行电机选型的合理性。采用高精度双通道自整角机作为位置信号的检测装置,实现了伺服系统位置的闭环控制。选择TMS320LF2407A作为核心控制芯片,完成了伺服控制卡的设计,包括DSP最小系统、轴角编码单元、D/A转换电路等的硬件研制。完成了执行机构、角度采集及编码装置、伺服控制卡之间的电气连接,建立了伺服控制系统的硬件平台在硬件平台基础上,本文针对具体性能指标,设计了分区PID与复合控制相结合的控制算法,并通过实验进行了控制参数的整定。设计了一套新的通信协议,确保了伺服控制卡与上位机之问通信的同步性与正确性。此外,研究并实现了一套新的轴角编码检错算法,提高了系统的纠错能力。完成了系统的联调,基本达到了预期的性能指标。更多还原

【Abstract】 With the rapid development of science and technology, unmanned platform has been applied to the various regional where humans can not reach or should not survive. To enable the unmanned platforms to complete many complex tasks in these areas, to make the unmanned platform more flexible, more responsive and more intelligent, developing advantageous servo tracking system becomes the most urgent problem. With the rapid development of computer technology and AC motor speed control technology, various of new control methods and speed regulation means can be applied to actual system. Then modern servo system has vaster prospect of development.A kind of servo control system which uses in unmanned platform has been designed and developed in this paper. Having analyzed the systematic population structure and various function indicators, and in accordance to the calculation results of actual parameters, confirmed that the motor is a reasonable choice. Achieved the closed-loop control of the servo system using the high-precision dual-channel autosynchromotor as the location of the detector signal. Completed the design of servo control card which including the DSP minimal systems, rotary encoder module, D/A converter circuit using the TMS320LF2407A as core control chip. Finally completed the electrical connection between the implementing agency, the angle acquainting and encoding devices and the servo-control card, constructed hardware platform for the servo control system.Based on the hardware platform, a kind of control algorithm which combinated subarea PID and compound control is designed in this paper aimed at the concrete performance indicators. And then adjusted the control parameters through experiments, ensured that the systematic function of servo control reaches established requests. Design a new set of communication protocols, to ensure the correction and the synchronization of the communication between the PC and servo control card. In addition, researched a new rotary encoder error detection algorithm, improved the error correction capacity of the system. Finally, accomplished the systematic debugging, have realized the expected performance indicators.更多还原