【摘要】：為彌補(bǔ)當(dāng)前位置伺服系統(tǒng)控制精度不高和有線數(shù)據(jù)傳輸?shù)牟槐?通過對無線通信和位置伺服系統(tǒng)的研究,從模塊選型、控制算法和程序優(yōu)化著手,設(shè)計(jì)了一種較高精度無線位置伺服控制系統(tǒng)。采用多量程較高精度L3G4200DH三軸陀螺儀作為角位置傳感器,通過2.4G NRF24L01無線射頻收發(fā)芯片實(shí)現(xiàn)數(shù)據(jù)傳輸,以意法半導(dǎo)體公司STM32F103RBT6作為微控制器,其為Cortex-M3系列ARM產(chǎn)品,使用模糊PID全閉環(huán)控制算法對伺服電機(jī)進(jìn)行控制,并且加超前校正和前饋環(huán)節(jié),其中,超前校正可以使輸出信號比輸入超前,改善角度輸入響應(yīng)滯后,從而減小系統(tǒng)的跟隨誤差;前饋這一環(huán)節(jié)可以使輸出量變化最大程度跟隨輸入量變化。同時(shí),采用無線視頻模塊實(shí)時(shí)監(jiān)控伺服電機(jī)狀態(tài),實(shí)現(xiàn)對電機(jī)的精確運(yùn)動(dòng)控制。本文首先梗概了當(dāng)前國內(nèi)外在無線位置伺服領(lǐng)域的研究發(fā)展情況,并簡單概述了無線位置伺服控制技術(shù)工作原理和本文研究意義;其次整體把握該系統(tǒng)的整體設(shè)計(jì)思路,對系統(tǒng)方案、硬件選型、控制算法和策略、關(guān)鍵程序代碼等進(jìn)行深入分析,提出一種模糊PID全閉環(huán)復(fù)合控制算法。最后分析了系統(tǒng)的主要誤差來源,并對控制算法進(jìn)行建模和仿真。通過仿真和實(shí)驗(yàn)證明伺服系統(tǒng)在精度和實(shí)時(shí)性上有了很大的提高,動(dòng)態(tài)跟隨精度達(dá)到了10-3,具有良好的跟蹤特性,同時(shí)無線數(shù)據(jù)傳輸方式,將會(huì)給遠(yuǎn)程控制和特殊作業(yè)環(huán)境帶來極大的方便。
[Abstract]:In order to make up for the inconveniences of current position servo system's control precision and wired data transmission, through the research of wireless communication and position servo system, the selection of module, control algorithm and program optimization are introduced. A high precision wireless position servo control system is designed. Using L3G4200DH three-axis gyroscope with high precision as angular position sensor, data transmission is realized by 2.4G NRF24L01 radio frequency transceiver chip, and STM32F103RBT6 is used as microcontroller by Italian semiconductor company, which is a Cortex-M3 series ARM product. The fuzzy PID full closed loop control algorithm is used to control the servo motor, and the advanced correction and feedforward link are added. The advanced correction can make the output signal ahead of the input and improve the angle input response lag. Thus, the following error of the system is reduced. Feedforward this link can make the output change as much as possible with the input variable. At the same time, the wireless video module is used to monitor the state of the servo motor in real time to realize the accurate motion control of the motor. Firstly, this paper summarizes the research and development of wireless position servo at home and abroad, and briefly summarizes the working principle of wireless position servo control technology and the significance of the research in this paper. Secondly, the overall design idea of the system is grasped, and the system scheme, hardware selection, control algorithm and strategy, key program code are deeply analyzed, and a fuzzy PID full closed loop compound control algorithm is proposed. Finally, the main error sources of the system are analyzed, and the control algorithm is modeled and simulated. Simulation and experiments show that the servo system has a great improvement in accuracy and real-time performance, dynamic tracking accuracy has reached 10-3, good tracking characteristics, and wireless data transmission mode. It will bring great convenience to remote control and special working environment.
【學(xué)位授予單位】：上海理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM921.541

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本文編號：2350071