本文關(guān)鍵詞：光電跟蹤分?jǐn)?shù)階伺服控制系統(tǒng)的研究　出處：《西安工業(yè)大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 光電跟蹤 伺服控制 永磁同步電機(jī) 空間矢量調(diào)制 分?jǐn)?shù)階PID控制 數(shù)字信號控制器

【摘要】：光電跟蹤控制系統(tǒng)是一個由光電信號探測、信號處理、伺服控制系統(tǒng)以及機(jī)械結(jié)構(gòu)組成的系統(tǒng),在目標(biāo)跟蹤領(lǐng)域發(fā)揮了重要作用。光電跟蹤控制系統(tǒng)以跟蹤穩(wěn)定性、精確性和快速性為設(shè)計(jì)目標(biāo),以及在外部環(huán)境干擾下具有自適應(yīng)抗干擾的能力。在系統(tǒng)設(shè)計(jì)中,需要具備快速靈活、控制精度較高的伺服控制系統(tǒng)。本文在對系統(tǒng)功能分析的基礎(chǔ)上,將單軸伺服控制系統(tǒng)作為研究的控制對象,采用分?jǐn)?shù)階微積分控制算法,研究并確立了系統(tǒng)的總體設(shè)計(jì)方案及控制策略,對系統(tǒng)的執(zhí)行機(jī)構(gòu)、控制器進(jìn)行了選型和分析,并設(shè)計(jì)單軸光電跟蹤的穩(wěn)定控制系統(tǒng)的硬件平臺,對系統(tǒng)的軟件部分進(jìn)行了研究與設(shè)計(jì)。本文主要的研究內(nèi)容如下：(1)分析了的光電跟蹤伺服控制研究意義和國內(nèi)外發(fā)展現(xiàn)狀,并對分?jǐn)?shù)階微積分和分?jǐn)?shù)階控制系統(tǒng)做了相應(yīng)的研究。在MATLAB環(huán)境下對分?jǐn)?shù)階PID控制器的微分階次和積分階次進(jìn)行了具體分析,并給出了實(shí)驗(yàn)結(jié)果和結(jié)論。(2)對系統(tǒng)的總體方案進(jìn)行了設(shè)計(jì),分析了控制系統(tǒng)的功能并研究了伺服控制系統(tǒng)的控制方法。選擇單軸伺服控制作為研究對象,并選擇三相永磁同步電機(jī)為執(zhí)行機(jī)構(gòu),采用空間電壓矢量調(diào)制策略,選擇數(shù)字信號控制器控制電機(jī)的運(yùn)行。(3)在分析分?jǐn)?shù)階控制器的基礎(chǔ)上研究了分?jǐn)?shù)階PID參數(shù)整定方法,將一種典型的伺服控制系統(tǒng)作為研究對象,并設(shè)計(jì)了一種改進(jìn)的粒子群優(yōu)化方法對分?jǐn)?shù)階PID控制器的5個參數(shù)進(jìn)行了參數(shù)整定,以解決分?jǐn)?shù)階控制器參數(shù)整定較復(fù)雜的問題,仿真實(shí)驗(yàn)結(jié)果驗(yàn)證了改進(jìn)算法的有效性。(4)設(shè)計(jì)控制系統(tǒng)的整體硬件結(jié)構(gòu),包括主控電路、外圍擴(kuò)展模塊電路、智能功率驅(qū)動模塊電路和檢測電路。軟件設(shè)計(jì)方面闡述了伺服控制系統(tǒng)的主程序和子程序的設(shè)計(jì)過程。在CCS4.1編程環(huán)境下,對伺服控制系統(tǒng)的軟件部分進(jìn)行了設(shè)計(jì)。論文通過對光電跟蹤伺服控制系統(tǒng)的方案設(shè)計(jì)、控制算法的理論分析,實(shí)現(xiàn)了分?jǐn)?shù)階伺服控制算法仿真研究。對控制系統(tǒng)硬件和軟件進(jìn)行了系統(tǒng)設(shè)計(jì),并搭建了伺服系統(tǒng)實(shí)驗(yàn)平臺證明了本文方法的有效性,具有一定的實(shí)用價值。
[Abstract]:Photoelectric tracking control system is a system composed of photoelectric signal detection, signal processing, servo control system and mechanical structure. It plays an important role in target tracking field. The photoelectric tracking control system is designed for tracking stability, accuracy and speediness, and has the ability of adaptive anti-interference under the interference of the external environment. In the design of the system, it is necessary to have a fast and flexible servo control system with high control precision. Based on the analysis of the system functions, the single axis servo control system as the control object of study, using the fractional calculus of control algorithm, and proposes the overall design scheme and the control strategy of the system, the actuator, the controller of the system are selected and analyzed, and the design of single axis photoelectric tracking stability control the hardware platform of the system, the software part of the system research and design. The main contents of this paper are as follows: (1) the research significance and development status of electro-optical tracking servo control are analyzed, and the fractional calculus and fractional order control system are studied accordingly. In the MATLAB environment, the differential order and integral order of the fractional order PID controller are analyzed, and the experimental results and conclusions are given. (2) the overall scheme of the system is designed, the function of the control system is analyzed and the control method of the servo control system is studied. The single axis servo control is selected as the research object, and three phase permanent magnet synchronous motor is chosen as the actuator, and the space voltage vector modulation strategy is adopted to select the digital signal controller to control the operation of the motor. (3) based on the analysis of fractional order controller on fractional PID parameter tuning method, a typical servo control system as the research object, and designed an improved particle swarm optimization method of fractional order PID controller 5 parameters for the parameter tuning, in order to solve the fractional order controller the parameter setting of more complex problems, the simulation results verify the effectiveness of the improved algorithm. (4) the overall hardware structure of the control system is designed, including the main control circuit, the peripheral extension module circuit, the intelligent power drive module circuit and the detection circuit. The design process of the main program and subroutine of the servo control system is described in the software design. In the environment of CCS4.1 programming, the software part of the servo control system is designed. Through the theoretical analysis of the scheme design and control algorithm of the photoelectric tracking servo control system, the simulation research of the fractional order servo control algorithm is realized. The hardware and software of the control system were designed, and the experimental platform of servo system was built, which proved the validity of the method and practical value.
【學(xué)位授予單位】：西安工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TN29;TP273
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本文編號：1347817