本文選題：DSP　切入點：天線穩(wěn)定平臺　出處：《哈爾濱工程大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著數(shù)字化技術(shù)和信息化技術(shù)的不斷提高,船用衛(wèi)星通信需要實時、高效的接收衛(wèi)星發(fā)來的語音、數(shù)據(jù)以及圖像等多媒體信息。為了使天線能夠始終的指向衛(wèi)星,需要在艦船上構(gòu)建一個天線穩(wěn)定平臺,來抑制船舶姿態(tài)和航向改變等因素帶來的搖擺。本文以艦載衛(wèi)星天線姿態(tài)穩(wěn)定平臺為研究背景,通過接收微慣性測量單元輸出的各軸姿態(tài)信息,與旋轉(zhuǎn)變壓器變輸出的天線軸端位置信息構(gòu)成位置閉環(huán),偏差量經(jīng)過控制器的解算,將輸出量進行功率放大,驅(qū)動電機做相應(yīng)的轉(zhuǎn)動,從而使天線隔離艦船搖擺,保持姿態(tài)的穩(wěn)定。根據(jù)天線穩(wěn)定平臺伺服控制系統(tǒng)的工作原理,首先對系統(tǒng)進行了總體設(shè)計,并完成了關(guān)鍵元器件分析、選型。由于DSP芯片具有高效、高速、高精度等優(yōu)點,并且能夠提供多路PWM輸出,非常適合進行電機的控制,因此本系統(tǒng)選用TI公司生產(chǎn)的TMS320F2812作為主控芯片。伺服控制系統(tǒng)的硬件部分由TMS320F2812最小系統(tǒng)板,電機的功率放大板,位置檢測電路板組成。在完成系統(tǒng)的硬件電路板設(shè)計后,基于VC在上位機上設(shè)計了控制界面,實現(xiàn)對電機的位置控制、數(shù)據(jù)傳輸?shù)裙δ�。本文完成了天線穩(wěn)定平臺伺服控制系統(tǒng)的控制方法設(shè)計,建立了穩(wěn)定回路的數(shù)學(xué)模型,并對伺服控制系統(tǒng)進行了理論分析和經(jīng)典校正,驗證了經(jīng)典PID控制規(guī)律的可行性。分析了模糊控制理論和傳統(tǒng)PID控制理論的優(yōu)勢和劣勢,然后針對系統(tǒng)設(shè)計了模糊自適應(yīng)PID控制器并給出了控制算法的實施步驟和軟件實現(xiàn),同時編寫了 PWM波生成程序和位置檢測程序,在軟件設(shè)計中考慮到干擾的影響,采用了軟件數(shù)字濾波的思想,更好的實現(xiàn)了對天線穩(wěn)定平臺的位置控制。通過軟件仿真及多次試驗得出,本文提出的模糊自適應(yīng)PID控制算法的控制效果優(yōu)于傳統(tǒng)PID控制算法,減小了系統(tǒng)的超調(diào)量提高了控制的精度,同時具有更好的抗干擾能力和魯棒性,比傳統(tǒng)PID控制器有著更加良好的動、靜態(tài)性能,達到了系統(tǒng)性能指標的要求。
[Abstract]:With the development of digital technology and information technology, marine satellite communication needs to receive multimedia information such as voice, data and image in real time and efficiently. It is necessary to construct an antenna stabilization platform on the ship to restrain the swaying caused by the ship attitude and course change. This paper takes the shipborne satellite antenna attitude stabilization platform as the research background. By receiving the attitude information of each axis outputted by the micro inertial measurement unit, the position closed loop is formed with the position information of the antenna shaft end of the variable output of the rotary transformer. The deviation is solved by the controller to amplify the output power. According to the working principle of servo control system of antenna stabilization platform, the system is designed as a whole, and the key components are analyzed. Because DSP chip has the advantages of high efficiency, high speed and high precision, and can provide multiple PWM output, it is very suitable for motor control. Therefore, the TMS320F2812 produced by TI is chosen as the main control chip. The hardware of servo control system is composed of TMS320F2812 minimum system board, motor power amplifier board and position detection circuit board. After the hardware circuit board design of the system is completed, The control interface is designed on the upper computer based on VC to realize the function of position control and data transmission of the motor. In this paper, the control method of the servo control system of the antenna stabilization platform is designed, and the mathematical model of the stabilization loop is established. The feasibility of classical PID control law is verified by theoretical analysis and classical correction of servo control system. The advantages and disadvantages of fuzzy control theory and traditional PID control theory are analyzed. Then the fuzzy adaptive PID controller is designed for the system, and the implementation steps and software implementation of the control algorithm are given. At the same time, the program of generating PWM wave and the program of position detection are written, and the influence of interference is taken into account in the software design. The idea of software digital filtering is used to better control the position of antenna stabilized platform. Through software simulation and many experiments, it is concluded that the fuzzy adaptive PID control algorithm proposed in this paper is better than the traditional PID control algorithm. The overshoot of the system is reduced and the control precision is improved. At the same time, it has better anti-jamming ability and robustness, and has better dynamic and static performance than the traditional PID controller, and meets the requirements of the system performance index.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP273;TN820

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