本文關(guān)鍵詞：光電雷達伺服控制系統(tǒng)研究　出處：《沈陽理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 光電雷達伺服控制系統(tǒng) 單片機 FPGA

【摘要】：近些年隨著無人機、小型軍事飛行器等體積較小偵察裝置運用于戰(zhàn)場中,對光電雷達的研究提出了捕獲力更強、體積更小、速度更靈敏的要求。論文在以光電雷達研究的基礎(chǔ)上提出了一套體積小、響應(yīng)快、匹配度高的伺服控制系統(tǒng)。建立了伺服控制數(shù)學(xué)模型,設(shè)計了一種針對性的伺服控制器,控制器以單片機與FPGA為核心控制單元,利用FPGA并行處理能力,完成接收編碼器反饋數(shù)據(jù)、PWM電機驅(qū)動調(diào)制;利用單片機在算法設(shè)計上的優(yōu)勢高速實現(xiàn)控制數(shù)學(xué)模型。經(jīng)實際實驗,本系統(tǒng)使用PID算法達到伺服位置控制精度為編碼器輸入+-1碼。首先,論文對伺服控制系統(tǒng)控制理論進行研究,建立了以雙極型可逆電機驅(qū)動理論為基礎(chǔ),以PID控制算法為核心,以內(nèi)模法控制原理為整體框架的伺服控制數(shù)學(xué)模型。其次,論文對系統(tǒng)結(jié)構(gòu)進行分析,設(shè)計了由高精度二維轉(zhuǎn)臺、光電編碼器、伺服控制器組成的光電雷達伺服控制系統(tǒng)。通過系統(tǒng)對伺服控制器提出的需求設(shè)計了以單片機與FPGA芯片作為主控單元,集合異步收發(fā),功率前置放大的伺服控制器硬件結(jié)構(gòu)。通過對系統(tǒng)數(shù)學(xué)模型的分析設(shè)計了基于PID算法與內(nèi)模法控制理論的軟件結(jié)構(gòu)。最后,通過大量實驗驗證了伺服控制系統(tǒng)功能可靠性、程序穩(wěn)定性和硬件電路穩(wěn)定性。同時該系統(tǒng)也實現(xiàn)了令人滿意的用戶體驗,實現(xiàn)了多方式運動、實時運動狀態(tài)監(jiān)視、在線系統(tǒng)參數(shù)更改等便利的功能。
[Abstract]:With the rapid development of small UAV, military aircraft and other small reconnaissance device used in the battlefield, study on the photoelectric radar is put forward to capture the stronger, smaller volume, speed is more sensitive. The paper based on the research of photoelectric radar put forward a set of small size, fast response, high degree of servo control system established mathematical model of servo control, it designs a servo controller, controller with MCU and FPGA as the core control unit, using FPGA parallel processing ability, complete receiving encoder feedback data, PWM electric machine driven by SCM modulation; in the algorithm design of the advantages of high speed control. The mathematical model of the actual experiment. The system uses the PID algorithm to achieve servo position control precision input +-1 code encoder. First, the servo control system control theory, established by bipolar Reversible motor drive theory, the PID control algorithm as the core, the internal model control principle control method mathematical model for servo framework. Secondly, the paper analyzes the system structure, design of the turntable, by two dimensional high precision photoelectric encoder, photoelectric radar servo control system servo controller a through the system of. The servo controller needs to chip and FPGA as the main control unit design, set asynchronous transceiver, servo controller hardware structure of power preamplifier. The software structure through the analysis of the mathematical model of the system is designed based on the PID algorithm and the method of internal model control theory. Finally, the servo control system of functional reliability was validated by experiments program, stability and stability of the system hardware circuit. At the same time also achieved satisfactory user experience, realizes the multi way movement, real-time motion State monitoring, online system parameter changes and other convenient functions.

【學(xué)位授予單位】：沈陽理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TN954.2

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本文編號：1418916