本文選題：三軸仿真平臺 + STM32��； 參考：《南昌航空大學(xué)》2016年碩士論文

【摘要】：飛行控制技術(shù)是飛行器設(shè)計過程中的關(guān)鍵技術(shù)之一,隨著飛控技術(shù)的日益進(jìn)步,導(dǎo)航、制導(dǎo)和控制技術(shù)不斷融合,集導(dǎo)航、制導(dǎo)與控制為一體的飛行控制系統(tǒng)在現(xiàn)代飛行器控制系統(tǒng)設(shè)計中成為主流,飛行控制技術(shù)在飛行器系統(tǒng)中的核心地位也與日俱增。飛行仿真轉(zhuǎn)臺能夠模擬出飛行器飛行過程中的姿態(tài)運動,在實驗室中就能重現(xiàn)空中飛行時的姿態(tài)角變化和姿態(tài)角速率變化,為慣導(dǎo)傳感器提供一個近似真實的運行環(huán)境,它是檢測飛控系統(tǒng)性能和進(jìn)行仿真實驗的重要裝置。本文在分析和學(xué)習(xí)了國內(nèi)外對三軸仿真轉(zhuǎn)臺系統(tǒng)研究現(xiàn)狀的基礎(chǔ)上,對飛控系統(tǒng)半物理仿真平臺控制系統(tǒng)的構(gòu)成及其特性進(jìn)行了研究,提出了一種飛控系統(tǒng)半物理仿真平臺的控制系統(tǒng)方案,本文的三軸仿真轉(zhuǎn)臺控制系統(tǒng)是以ARM處理器為核心控制器,系統(tǒng)采用PC機(jī)與下位機(jī)兩級控制,使用控制算法,對三軸轉(zhuǎn)臺的轉(zhuǎn)動進(jìn)行精確控制。捷聯(lián)慣導(dǎo)傳感器是本系統(tǒng)的測試元件,通過對幾款常用的MEMS姿態(tài)傳感器進(jìn)行對比后,綜合考慮實際要求以及捷聯(lián)慣導(dǎo)系統(tǒng)精度、靈敏度等因素選擇合適的傳感器�？刂葡到y(tǒng)采用模塊化設(shè)計的思想,分別設(shè)計了供電電源、姿態(tài)傳感器、步進(jìn)電機(jī)驅(qū)動電路、液晶顯示屏、編碼器接口、串口通訊等模塊。為了提高慣性導(dǎo)航系統(tǒng)的精度,降低誤差,本文研究了歐拉角法、方向余弦法和四元數(shù)法三種姿態(tài)算法,并結(jié)合實際要求選用四元數(shù)法作為本課題使用的姿態(tài)算法。通過陀螺儀采集到的靜態(tài)角速率數(shù)據(jù),利用軟件結(jié)合四元數(shù)法獲得慣性傳感器的靜態(tài)姿態(tài)角誤差圖。本文還研究了模糊控制算法理論,建立了外環(huán)軸的數(shù)學(xué)模型,運用的模糊控制工具箱,設(shè)計外環(huán)軸的模糊控制算法。在環(huán)境下,通過仿真獲得模糊控制器在階躍函數(shù)輸入時的輸出響應(yīng)曲線,通過與傳統(tǒng)控制算法的輸出曲線對比得到,模糊算法的非線性性能要明顯優(yōu)于傳統(tǒng)算法。在軟件結(jié)構(gòu)上,對各個底層模塊進(jìn)行驅(qū)動設(shè)計,并利用設(shè)計的硬件電路對各個模塊進(jìn)行應(yīng)用測試。對PC上位機(jī)軟件的進(jìn)行開發(fā),調(diào)試實現(xiàn)串口通信、轉(zhuǎn)動控制、姿態(tài)數(shù)據(jù)顯示等功能。
[Abstract]:Flight control technology is one of the key technologies in the aircraft design process. With the development of flight control technology, navigation, guidance and control technology are constantly integrated and integrated navigation. The flight control system, which integrates guidance and control, has become the mainstream in the design of modern aircraft control system, and the core position of the flight control technology in the aircraft system is increasing day by day. The flight simulation turntable can simulate the attitude motion of the aircraft during flight, and can reproduce the change of attitude angle and attitude rate in the laboratory, which provides an approximate real operating environment for the inertial navigation sensor. It is an important device for detecting the performance of flight control system and conducting simulation experiments. Based on the analysis and study of the current situation of the three-axis simulation turntable system at home and abroad, the structure and characteristics of the semi-physical simulation platform control system for the flight control system are studied in this paper. This paper presents a control system scheme of semi-physical simulation platform for flight control system. In this paper, the control system of three-axis simulation turntable is based on arm processor, the system adopts PC and lower computer two-level control, and uses control algorithm. The rotation of the three-axis turntable is controlled accurately. Strapdown inertial navigation sensor is the test element of this system. By comparing several commonly used MEMS attitude sensors, the practical requirements and the precision and sensitivity of sins are considered comprehensively. The control system adopts the idea of modular design. The modules of power supply, attitude sensor, stepper motor driving circuit, liquid crystal display screen, encoder interface and serial port communication are designed respectively. In order to improve the precision of inertial navigation system and reduce the error, three attitude algorithms, Euler angle method, directional cosine method and quaternion method, are studied in this paper. Through the static angular rate data collected by gyroscope, the static attitude angle error diagram of inertial sensor is obtained by using software and quaternion method. This paper also studies the theory of fuzzy control algorithm, establishes the mathematical model of the outer ring axis, and designs the fuzzy control algorithm of the outer ring axis by using the fuzzy control toolbox. In the environment, the output response curve of the fuzzy controller when the step function is input is obtained by simulation. Compared with the output curve of the traditional control algorithm, the nonlinear performance of the fuzzy algorithm is obviously better than that of the traditional algorithm. In the software structure, the drive design of each underlying module is carried out, and the application test of each module is carried out by using the designed hardware circuit. The PC software is developed and debugged to realize the functions of serial communication, rotation control, attitude data display and so on.
【學(xué)位授予單位】：南昌航空大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V249.1

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