【作者】 龚超群；

【导师】 富宏亚；

【作者基本信息】 哈尔滨工业大学 ， 机械制造及其自动化， 2008， 硕士

【摘要】 惯性系统在航空、航天和航海领域中占有举足轻重的地位。随着惯性元件和惯性系统的精度不断提高,对其测试设备的要求也越来越高。测试转台是惯性导航系统和惯性元件研制过程中必须的重要设备,它的性能指标直接影响到空间飞行器和运载体的控制和导航的精度。因此,研制高精度、高可靠性的惯性测试设备,对于我国航空、航天工业的发展有着重要的意义。本论文以三自由度激光链路模拟平台研制为背景,采用“NC嵌入PC”的开放式控制系统,选用Turbo PMAC作为运动控制器,嵌入到上位工业PC机内,并与直流力矩电机及其驱动器、交流伺服电机、伺服驱动器、光电编码器等部件搭建具有全闭环控制功能的三自由度模拟平台控制系统。根据控制系统功能需要开发了控制系统应用软件,主要包括主控制界面、信号测试界面、PID参数调试界面、微动控制界面、数据采集界面5个界面,以实现故障诊断、参数输入、工作状态的监视和显示、数据采集和人机交互等功能;还对基于双端口RAM的高速数据采集技术进行了研究,为控制系统后续分析提供了可靠保障。根据设计任务书技术指标要求制定控制系统实验方案,从运动范围和角位置精度、最大速度和最大加速度、双十指标、动态跟踪性能、低速性能五个方面展开了实验方案。实验表明,所研制的控制系统各项技术指标均达到了设计要求。更多还原

【Abstract】 Inertial system is very important in aviation field and navigation field. As inertial component and inertial system accuracy improving, the requirement of performance to the test equipment is higher and higher. Testing table is a special equipment for inertia navigation system and inertia component’s research. Its performance will affect the aircraft and the vehicle’s precision of control system and navigation. So the research on high precise inertia testing table is very important for developing our country’s aerospace and aviation industries.This thesis focuses on the design of three-dimension laser link simulation turntable. We designed a three-dimension simulation turntable with a full-closed loop control based on "NC+PC" opening architecture, which consists of Turbo PMAC motion controller embedded in the standard socket of industrial process computer(IPC), DC brushless torque motors and its drivers, AC servo motor, servo-driver and photoelectric encoders.According to the control system function requirement, this thesis developed a software which consists of main software interface, signal test Interface, PID parameters debugging interface, jogging test interface and data acquisition interface to realize functions of fault diagnosis, parameter input, monitoring the condition of the system, data collection and human-computer interaction. This thesis also introduces the data collecting technique based on double-port-RAM, which provides guarantee for data analyzing.According to the technique parameter which be put forward by related unit, this thesis carried out experiments which consist of range of motion and position precision test, max velocity and max acceleration test, bandwidth test, performance of dynamic tracking test and low speed performance test to confirm the performance of the control system. The experimental results show that all of the indexes of the system met the performance requirements.更多还原