本文選題：光電跟蹤 + 位置伺服系統(tǒng)��； 參考：《西安工業(yè)大學(xué)》2015年碩士論文

【摘要】：光電跟蹤系統(tǒng)在目標(biāo)跟蹤、視頻采集等場(chǎng)合應(yīng)用廣泛。其伺服控制系統(tǒng)對(duì)光電跟蹤系統(tǒng)的快速性、準(zhǔn)確性有重要的影響。針對(duì)目前光電跟蹤伺服控制系統(tǒng)體積大、跟蹤效果較差的缺點(diǎn)。本文以兩軸式光電跟蹤系統(tǒng)為研究對(duì)象,對(duì)光電跟蹤伺服控制系統(tǒng)的方案設(shè)計(jì)、數(shù)學(xué)模型搭建、控制算法、軟硬件設(shè)計(jì)等關(guān)鍵技術(shù)進(jìn)行理論分析和系統(tǒng)設(shè)計(jì)。首先在了解光電跟蹤系統(tǒng)工作流程的基礎(chǔ)上,確定其伺服控制系統(tǒng)的整體方案并對(duì)其伺服控制系統(tǒng)的驅(qū)動(dòng)電機(jī)、位置檢測(cè)器件等關(guān)鍵環(huán)節(jié)器件選型,最終確定控制結(jié)構(gòu)采用位置-轉(zhuǎn)速-電流三環(huán)控制結(jié)構(gòu)；搭建光電跟蹤伺服控制系統(tǒng)的數(shù)學(xué)模型,研究并實(shí)現(xiàn)“準(zhǔn)時(shí)間最優(yōu)”的轉(zhuǎn)速-電流環(huán)控制器設(shè)計(jì)方法,以提高伺服控制系統(tǒng)的快速性；針對(duì)位置環(huán)控制器的被控對(duì)象的數(shù)學(xué)模型高階、非線性的特點(diǎn),研究基于TS模糊模型的PID控制算法；硬件設(shè)計(jì)以實(shí)際工程為基礎(chǔ),設(shè)計(jì)并完成了光電跟蹤伺服系統(tǒng)的核心控制模塊、位置檢測(cè)模塊、電機(jī)驅(qū)動(dòng)電流速度采集模塊和人機(jī)交互模塊。并對(duì)光電跟蹤伺服控制系統(tǒng)軟件做了研究。在仿真平臺(tái)上搭建并實(shí)現(xiàn)光電跟蹤伺服控制系統(tǒng),實(shí)驗(yàn)結(jié)果表明,本文算法具有響應(yīng)快、穩(wěn)定性好、抗干擾能力強(qiáng)的特點(diǎn)。以伺服控制系統(tǒng)的控制結(jié)構(gòu)為基礎(chǔ),本文設(shè)計(jì)的緊湊式的光電跟蹤伺服控制系統(tǒng)有一定的實(shí)用價(jià)值。
[Abstract]:Photoelectric tracking system is widely used in target tracking, video capture and other occasions. The servo control system has an important effect on the speed and accuracy of the photoelectric tracking system. Aiming at the disadvantages of large volume and poor tracking effect of photoelectric tracking servo control system. This paper takes the two-axis optoelectronic tracking system as the research object, and carries on the theory analysis and the system design to the optoelectronic tracking servo control system's scheme design, mathematical model construction, control algorithm, hardware and software design and so on. Firstly, on the basis of understanding the work flow of photoelectric tracking system, the whole scheme of servo control system is determined, and the key components such as driving motor, position detector and other key parts of servo control system are selected. Finally, the control structure is determined to adopt the position, speed and current three-loop control structure, the mathematical model of the photoelectric tracking servo control system is built, and the design method of the "quasi-time optimal" rotational speed and current loop controller is studied and realized. In order to improve the rapidity of servo control system, the PID control algorithm based on TS fuzzy model is studied in view of the high order and nonlinear characteristics of the mathematical model of the controlled object of the position loop controller, and the hardware design is based on the actual engineering. The core control module, position detection module, motor driving current and velocity acquisition module and man-machine interaction module of photoelectric tracking servo system are designed and completed. The software of photoelectric tracking servo control system is studied. The photoelectric tracking servo control system is built and implemented on the simulation platform. The experimental results show that the algorithm has the characteristics of fast response, good stability and strong anti-interference ability. Based on the control structure of servo control system, the compact photoelectric tracking servo control system designed in this paper has certain practical value.
【學(xué)位授予單位】：西安工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TM921.5

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本文編號(hào)：1830946