本文選題：傳感器標定 + 伺服電機�。� 參考：《合肥工業(yè)大學》2017年碩士論文

【摘要】：海洋資源豐富,在人類社會迅速發(fā)展,陸地資源日益緊張的前提下,海洋資源資源開發(fā)已經被視為社會經濟發(fā)展的重要動力。我國明確提出“海洋強國戰(zhàn)略”,海洋開發(fā)對于我國現代化建設具有著重要意義。在海洋開發(fā)中,海洋觀測技術是開展海洋科學研究的基礎手段,其中海流測量亦是核心關鍵技術。針對微弱上升流測量難題,課題組在國家自然科學基金的資助下研制了一種新型三維海流傳感器。為實現對該傳感器的標定,基于相對運動轉化原理設計海流傳感器標定裝置,本文主要設計海流傳感器標定裝置的運動控制系統。首先通過分析海流傳感器標定需求,確定標定裝置的功能要求與性能指標,提出標定裝置的總體設計方案。分別在X、Y、Z三軸方向布置單軸進給系統,采用伺服電機+滾珠絲杠+直線導軌的傳動形式實現標定裝置的水平運動與上升運動。選用DSP芯片TMS320F28335作為控制系統核心處理器,設計D/A轉換、脈沖信號處理和串口通信等功能模塊電路,構成DSP運動控制器。針對標定裝置速度平穩(wěn)性和定位精度的實際要求,在單軸方向運動過程中,以伺服電機速度模式為內環(huán),設計速度外環(huán)與位置外環(huán)相切換的控制方式,實現全閉環(huán)控制。速度外環(huán)采用經典的PID控制,位置外環(huán)采用滑模變結構控制。在TI公司提供的CCS集成開發(fā)環(huán)境下編寫DSP程序代碼,基于Labview軟件平臺完成控制系統上位機的開發(fā)。最后對系統進行性能檢測試驗,包括硬件電路功能檢測、控制系統運行測試、速度精度實驗以及定位精度實驗。實驗結果表明運動控制系統達到性能要求,標定裝置可實現對新型海流傳感器的標定。
[Abstract]:With the rapid development of human society and the increasing shortage of land resources, the exploitation of marine resources has been regarded as an important driving force for social and economic development. China has put forward the "strategy of ocean power", and ocean development is of great significance to the modernization of our country. Ocean observation technology is the basic method to carry out marine scientific research in marine development, and current measurement is also the key technology. In order to solve the problem of weak upwelling measurement, a new three-dimensional current sensor was developed with the aid of the National Natural Science Foundation of China. In order to realize the calibration of the sensor, the calibration device of the current sensor is designed based on the principle of relative motion transformation. The motion control system of the calibration device of the current sensor is designed in this paper. Firstly, by analyzing the calibration requirements of ocean current sensor, the functional requirements and performance indexes of the calibration device are determined, and the overall design scheme of the calibration device is proposed. The single-axis feed system is arranged in the three axis direction of XNY Z, and the horizontal movement and the rising motion of the calibration device are realized by using the drive form of the linear guide rail of the ball screw of the servo motor. The DSP chip TMS320F28335 is selected as the core processor of the control system. The function modules such as D / A conversion, pulse signal processing and serial port communication are designed to form the DSP motion controller. According to the requirements of the speed stability and positioning accuracy of the calibration device, in the process of uniaxial movement, the speed mode of servo motor is used as the inner loop, and the control mode of switching between the speed outer loop and the position outer loop is designed to realize the full closed loop control. The velocity outer loop is controlled by classical PID and the position outer loop by sliding mode variable structure control. In the CCS integrated development environment provided by TI company, the DSP program code is written, and the host computer of the control system is developed based on the Labview software platform. Finally, the performance test of the system is carried out, including hardware circuit function test, control system running test, speed precision experiment and positioning precision experiment. The experimental results show that the motion control system meets the performance requirements and the calibration device can realize the calibration of the new current sensor.
【學位授予單位】：合肥工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP212;TP273

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