【摘要】：便攜式雷達具有易于操作、輕便快捷、實時偵察、探測距離遠、定位精確、全天候工作等優(yōu)點,是現(xiàn)代戰(zhàn)場上不可缺少的重要偵察裝備。然而二軸轉(zhuǎn)臺伺服系統(tǒng)又是雷達的重要構(gòu)成部分,雷達的測量精度與和動態(tài)性能直接受到轉(zhuǎn)臺伺服系統(tǒng)性能好壞的影響。為此,本文結(jié)合實際伺服控制系統(tǒng)的需求和項目實踐經(jīng)歷,以便攜式雷達二軸轉(zhuǎn)臺伺服系統(tǒng)為研究目標,對其中的控制技術(shù)進行研究和設計。本文首先結(jié)合實際需求和使用環(huán)境提出了二軸轉(zhuǎn)臺伺服系統(tǒng)的技術(shù)要求和精度要求,接著從控制回路、驅(qū)動回路和傳動結(jié)構(gòu)方案等方面闡述了系統(tǒng)的整體設計方案。然后經(jīng)過研究目前PMSM的數(shù)學模型和傳統(tǒng)的三閉環(huán)矢量控制技術(shù),提出了一種PMSM多傳感器組合使用零d軸電流全閉環(huán)矢量控制技術(shù)。其主要創(chuàng)新在于多傳感器的安裝位置、配合使用及電流、速度和位置的全閉環(huán)控制思想。系統(tǒng)采用電流傳感器、霍爾傳感器、相對式和絕對式編碼器。其中電流傳感器實現(xiàn)電流負反饋;霍爾傳感器首先用于電啟動機,當電機啟動后,相對式編碼器開始工作,此外,霍爾傳感器和相對式編碼器配合使用完成永磁同步電機轉(zhuǎn)子初始位置的檢測,加速電機轉(zhuǎn)子初始位置的檢測,相對式編碼器用于電機速度的檢測,實現(xiàn)電機速度的反饋;在傳統(tǒng)的三閉環(huán)矢量控制中只是在電機上安裝相對式編碼器,用于電機的速度和位置的檢測,實現(xiàn)電機的速度和位置反饋;本系統(tǒng)直接控制對象是PMSM,但實際上最終要實現(xiàn)的是對便攜式雷達的控制,并且行星齒輪減速器中存在齒隙和摩擦等非線性和延遲的影響,嚴重影響系統(tǒng)的精度。因此在電機負載端(行星齒輪減速器的輸出軸上)安裝絕對編碼器用于對行星齒輪減速器輸出軸的位置檢測,實現(xiàn)位置的反饋。最終,本文采取上述研究的控制策略,設計了二軸轉(zhuǎn)臺的硬件和軟件平臺,完成了整個產(chǎn)品設計。試研樣機已經(jīng)通過試驗檢驗,現(xiàn)在已經(jīng)完成批產(chǎn),并投入運行。試驗和實際運行效果表明本文設計的便攜式雷達二軸轉(zhuǎn)臺伺服控制系統(tǒng)達到技術(shù)要求,能夠穩(wěn)定可靠運行,且控制效果良好。
[Abstract]:Portable radar is an indispensable reconnaissance equipment in modern battlefield because it is easy to operate, portable and fast, real-time reconnaissance, long detection range, accurate positioning, all-weather work and so on. However, two-axis turntable servo system is an important part of radar. The measurement accuracy and dynamic performance of radar are directly affected by the performance of turntable servo system. Therefore, combining with the requirement of the actual servo control system and the practical experience of the project, this paper studies and designs the control technology of the portable radar two-axis turntable servo system. In this paper, the technical requirements and precision requirements of the two-axis turntable servo system are put forward according to the actual demand and application environment, and then the overall design scheme of the system is expounded from the aspects of the control loop, the drive circuit and the transmission structure scheme. Then, by studying the mathematical model of PMSM and the traditional three-loop vector control technology, a PMSM multi-sensor combination using zero-d-axis current full closed loop vector control technology is proposed. The main innovation lies in the full closed loop control idea of multi-sensor installation position, coordination use and current, speed and position. The system uses current sensors, Hall sensors, relative and absolute encoders. The current sensor realizes negative current feedback. Hall sensor is first used in the electric starter. When the motor starts, the relative encoder starts to work, in addition, Hall sensor and relative encoder work together to detect the initial position of permanent magnet synchronous motor rotor and accelerate the detection of rotor initial position. The relative encoder is used to detect the speed of motor and realize the feedback of motor speed. In the traditional three-loop vector control, only the relative encoder is installed on the motor, which is used to detect the speed and position of the motor and realize the speed and position feedback of the motor. The direct control object of this system is PMSM, but in fact, the control of portable radar is to be realized in the end, and the influence of nonlinearity and delay, such as tooth gap and friction in planetary gear reducer, seriously affects the accuracy of the system. Therefore, an absolute encoder is installed at the motor load end (the output shaft of the planetary gear reducer) to detect the position of the output shaft of the planetary gear reducer and to realize the feedback of the position. Finally, the hardware and software platform of the two-axis turntable is designed by adopting the control strategy of the above research, and the whole product design is completed. The prototype has passed the test and has now been produced in batches and put into operation. The experiment and actual operation results show that the portable radar two-axis turntable servo control system designed in this paper meets the technical requirements, can run stably and reliably, and has good control effect.
【學位授予單位】：江蘇科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273;TN957

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