本文關(guān)鍵詞： 電動(dòng)負(fù)載模擬器 多余力矩 迭代學(xué)習(xí)控制算法 DSP　出處：《安徽理工大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：電動(dòng)負(fù)載模擬器是一種半實(shí)物仿真設(shè)備,其在航空航天、制導(dǎo)、科研實(shí)驗(yàn)等許多領(lǐng)域發(fā)揮著重要作用,它是舵機(jī)性能測(cè)試的關(guān)鍵設(shè)備之一。它的主要任務(wù)是給舵機(jī)系統(tǒng)進(jìn)行負(fù)載加載,舵機(jī)實(shí)現(xiàn)帶負(fù)載運(yùn)行,與舵機(jī)共同組成完整的加載系統(tǒng)。近些年來(lái)隨著電力電子、微機(jī)控制、電機(jī)驅(qū)動(dòng)以及電機(jī)制造等技術(shù)的發(fā)展成熟,為設(shè)計(jì)高性能穩(wěn)定的電動(dòng)加載系統(tǒng)提供了很好的技術(shù)支持；經(jīng)典控制算法和現(xiàn)代智能控制策略的相互結(jié)合,為電動(dòng)加載系統(tǒng)多余力矩抑制問(wèn)題提供了理論依據(jù)。 本文設(shè)計(jì)基于TMS320F2812型DSP為核心控制器件的舵機(jī)電動(dòng)加載系統(tǒng),整個(gè)系統(tǒng)能夠?qū)崟r(shí)采集、存儲(chǔ)和反饋給定加載信號(hào)、實(shí)際轉(zhuǎn)矩信號(hào)等,根據(jù)程序設(shè)定的控制算法,控制器輸出加載曲線經(jīng)過(guò)加載電機(jī)驅(qū)動(dòng)裝置對(duì)舵機(jī)進(jìn)行負(fù)載模擬。對(duì)舵機(jī)的負(fù)載模擬整個(gè)實(shí)驗(yàn)過(guò)程數(shù)據(jù)的設(shè)定、修改,實(shí)驗(yàn)在線監(jiān)測(cè)都通過(guò)上位機(jī)實(shí)現(xiàn)。整個(gè)控制系統(tǒng)使用DSP芯片作為核心控制器,采用直流力矩電機(jī)作為加載執(zhí)行元件,力矩傳感器和光電編碼器實(shí)時(shí)采樣轉(zhuǎn)矩和舵機(jī)角位移信號(hào)；采用改進(jìn)的前饋補(bǔ)償控制策略和基于迭代學(xué)習(xí)控制算法相結(jié)合的復(fù)合控制策略來(lái)抑制系統(tǒng)多余力矩。文章對(duì)整個(gè)加載系統(tǒng)建立了精準(zhǔn)的數(shù)學(xué)模型,利用Simulink工具對(duì)本文采用的控制策略進(jìn)行了仿真分析,仿真實(shí)驗(yàn)結(jié)果證明了該方法的可行性。系統(tǒng)硬件電路包括PWM驅(qū)動(dòng)裝置、DSP供電電源電路、系統(tǒng)復(fù)位電路、JTAG仿真接口電路、時(shí)鐘電路和信號(hào)采樣調(diào)理電路等,論文最后給出了控制系統(tǒng)的軟件實(shí)現(xiàn)方法。
[Abstract]:Electric load simulator is a kind of hardware-in-the-loop simulation equipment, which plays an important role in many fields, such as aerospace, guidance, scientific research and experiment, etc. It is one of the key equipment for the performance test of the steering gear. Its main task is to load the steering gear system, which can operate with load and form a complete loading system together with the steering gear. In recent years, with the development of power electronics and microcomputer control, With the development of motor driving and motor manufacturing technology, it provides a good technical support for the design of high performance and stable electric loading system, and the combination of classical control algorithm and modern intelligent control strategy. It provides a theoretical basis for the problem of excess torque suppression in electric loading system. In this paper, an electric loading system of steering gear based on TMS320F2812 type DSP is designed. The system can collect, store and feedback the given loading signal and actual torque signal in real time, and set the control algorithm according to the program. The output load curve of the controller is simulated by loading motor driving device. The data of the whole experiment process of the load simulation of the steering gear is set up and modified. The whole control system uses DSP chip as the core controller, DC torque motor as the loading component, torque sensor and photoelectric encoder to sample the torque and the angular displacement signal of the steering gear in real time. An improved feedforward compensation control strategy and a compound control strategy based on iterative learning control algorithm are used to suppress the redundant torque of the system. A precise mathematical model is established for the whole loading system. The control strategy adopted in this paper is simulated and analyzed by using Simulink tool. The simulation results show that the method is feasible. The hardware circuit of the system includes the power supply circuit of PWM driver and the simulation interface circuit of the system reset circuit. Clock circuit and signal sampling conditioning circuit. Finally, the software realization method of the control system is given.
【學(xué)位授予單位】：安徽理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V216.8;TP273

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本文編號(hào)：1549560