本文關(guān)鍵詞：高頻角振動臺控制系統(tǒng)設(shè)計　出處：《哈爾濱工業(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： 高頻角振動臺 諧振抑制 音圈電機 DSP FPGA 自抗擾控制

【摘要】：高頻角振動臺主要用于對陀螺動態(tài)性能測試,特別是頻帶特性測試,此外角振動又是引起慣性器件加速度誤差和陀螺漂移變化的重要原因。由于MEMS等陀螺頻帶相對較寬,就要求角振動臺具有良好的動態(tài)跟蹤性能,尤其是對高頻信號的跟蹤能力。本文以單軸角振動臺控制系統(tǒng)設(shè)計為背景,根據(jù)角振動臺控制系統(tǒng)的實際需求,完成了以DSP和FPGA為核心控制器的軟硬件設(shè)計,并針對整個角振動臺控制系統(tǒng)進行建模,通過對對象的模型分析,設(shè)計了以自抗擾控制為核心的控制算法,并在DSP內(nèi)實現(xiàn)控制算法移植,最后在某轉(zhuǎn)臺上,對控制器以及控制算法進行了調(diào)試。本文的主要研究內(nèi)容包括:對角振動臺控制系統(tǒng)制建立完整的數(shù)學(xué)模型,分析了帶驅(qū)動器的電機數(shù)學(xué)模型,此外還考慮到本轉(zhuǎn)臺高頻響的特性,將諧振因素考慮進去,并且從負(fù)載變化的角度,分析系統(tǒng)固有頻率的變化情況,最終確立了包括轉(zhuǎn)臺固有頻率的角振動臺系統(tǒng)的完整數(shù)學(xué)模型,為后面控制算法的設(shè)計和諧振的抑制作了奠定。針對角振動臺系統(tǒng)數(shù)學(xué)模型,采用自抗擾控制為核心的控制算法,并設(shè)計了基于自抗擾控制的速度環(huán)和位置環(huán)兩種閉環(huán)控制,對于速度環(huán),分析了自抗擾對諧振和阻尼變動的情況的抑制能力,并與PID加限波器進行對比,仿真驗證了自抗擾控制的魯棒性和優(yōu)越性,對于位置環(huán),建立一階自抗擾控制算法,考慮了力矩擾動情況下,自抗擾控制對系統(tǒng)擾動的抑制能力,并與PID進行對比,驗證了位置環(huán)自抗擾控制算法設(shè)計的優(yōu)越和良好的控制性能。根據(jù)角振動臺控制器的功能需求,設(shè)計出以DSP和FPGA為控制核心多層電路板,并將自抗擾控制算法移植于DSP內(nèi),結(jié)合實際轉(zhuǎn)臺進行調(diào)試,驗證了控制器設(shè)計的正確性和自抗擾控制算法的可行性。
[Abstract]:The high-frequency angular vibration table is mainly used to test the dynamic performance of gyroscope, especially the frequency band characteristic. In addition, angular vibration is an important reason for the acceleration error and gyroscope drift of inertial devices. Because of the relatively wide frequency band of gyroscope such as MEMS, the angular vibration table is required to have good dynamic tracking performance. Especially the tracking ability of high frequency signal. This paper is based on the design of the control system of the single-axis angular shaking table, according to the actual requirements of the control system of the angular vibration table. The hardware and software design of DSP and FPGA as the core controller is completed, and the whole control system of the angular shaking table is modeled, and the model of the object is analyzed. The control algorithm based on ADRC is designed, and the control algorithm is transplanted in DSP. Finally, the algorithm is transplanted on a turntable. The main contents of this paper are as follows: the complete mathematical model of the diagonal vibration table control system is established, and the mathematical model of the motor with drive is analyzed. In addition, considering the characteristics of the high frequency response of the turntable, the resonance factor is taken into account, and the change of the natural frequency of the system is analyzed from the point of view of the load change. Finally, the complete mathematical model of the angular vibration table system including the natural frequency of the turntable is established, which lays the foundation for the design of the rear control algorithm and the suppression of the resonance, aiming at the mathematical model of the angular vibration table system. The control algorithm based on active disturbance rejection control (ADRC) is adopted, and two closed-loop control methods, speed loop and position loop based on ADRC, are designed for the speed loop. The suppression ability of ADRC to resonance and damping variation is analyzed, and compared with PID wave-limiter, the robustness and superiority of ADRC are verified by simulation, for position loop. The first order active disturbance rejection control algorithm is established, and the ability of active disturbance rejection control to suppress the disturbance of the system is considered in the case of moment disturbance, and compared with that of PID. The design of position loop auto disturbance rejection control algorithm is proved to be superior and good control performance. According to the functional requirements of the angular vibrator controller, the multi-layer circuit board with DSP and FPGA as the control core is designed. The ADRC algorithm is transplanted into DSP and debugged with the actual turntable. The correctness of the controller design and the feasibility of the ADRC algorithm are verified.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V241.5
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本文編號：1373683