【摘要】：隨著愈來愈多的新型慣性器件的不斷涌現(xiàn)和完善,慣性元件精度的檢測與標(biāo)定在導(dǎo)航系統(tǒng)中同樣發(fā)揮著舉足輕重的作用。慣導(dǎo)測試轉(zhuǎn)臺作為慣性測試技術(shù)的重要組成部分,其定位精度和運(yùn)行速率精度及平穩(wěn)性對慣導(dǎo)設(shè)備的測試及標(biāo)定亦發(fā)揮重要作用。本文以單軸陀螺測試轉(zhuǎn)臺為背景,在深入分析其定位和速率指標(biāo)要求后,進(jìn)行了基于PC104的轉(zhuǎn)臺位置及速率控制系統(tǒng)的設(shè)計(jì),實(shí)現(xiàn)了全數(shù)字方案的轉(zhuǎn)臺控制系統(tǒng)的設(shè)計(jì)。同時在此基礎(chǔ)之上對其控制算法進(jìn)一步分析設(shè)計(jì),以獲得更高的控制精度。在設(shè)計(jì)控制策略之前首先要對轉(zhuǎn)臺被控對象進(jìn)行建模,根據(jù)轉(zhuǎn)臺的實(shí)際運(yùn)行狀態(tài)建立相應(yīng)的模型,為接下來控制算法的設(shè)計(jì)以及仿真奠定了基礎(chǔ)。為使轉(zhuǎn)臺兼顧精度的同時獲得更快的響應(yīng)速度,對控制算法分為大偏差和小偏差兩部分:大偏差旨在選擇的控制器在轉(zhuǎn)臺運(yùn)行過程能夠快速且平穩(wěn)的靠近目標(biāo)位置。重點(diǎn)部分為小偏差控制器的設(shè)計(jì)。在調(diào)試過程中選擇兩級超前滯后校正控制器,在此基礎(chǔ)上,進(jìn)一步提出了神經(jīng)網(wǎng)絡(luò)優(yōu)化PID控制參數(shù)的方法,使其在控制性能上有所改善,最后進(jìn)行了仿真研究。本文是以實(shí)際工程項(xiàng)目為背景。因此系統(tǒng)的硬件與軟件的設(shè)計(jì)同樣占據(jù)關(guān)鍵地位。硬件與軟件設(shè)計(jì)的是否正確、合理直接關(guān)系到整個系統(tǒng)的控制性能。系統(tǒng)選用研華嵌入式主板PCM3343-PC104,以此為核心設(shè)計(jì)外圍測角系統(tǒng)、數(shù)據(jù)處理系統(tǒng)、信號處理模塊以及通訊系統(tǒng)。其信號處理模塊采用EPLD實(shí)現(xiàn)以簡化電路。軟件的設(shè)計(jì)主要包括控制系統(tǒng)、上位機(jī)控制界面和高速串行通訊的設(shè)計(jì)。控制系統(tǒng)通過定時中斷實(shí)現(xiàn)1ms采樣定時控制,上位機(jī)控制界面和高速串行通訊要通過C++和VB同時編程實(shí)現(xiàn)。最后完成了系統(tǒng)的調(diào)試以及最終調(diào)試結(jié)果的數(shù)據(jù)分析和總結(jié)。通過對轉(zhuǎn)臺進(jìn)行檢測獲得的實(shí)驗(yàn)數(shù)據(jù)進(jìn)行分析、計(jì)算,驗(yàn)證了系統(tǒng)的定位精度、速率的精度和平穩(wěn)性等相關(guān)性能指標(biāo)均能滿足用戶要求。
[Abstract]:With the continuous emergence and improvement of more and more new inertial devices, the accuracy detection and calibration of inertial components also plays an important role in navigation system. As an important part of inertial testing technology, the positioning accuracy, running rate accuracy and stationarity of inertial navigation test turntable also play an important role in the test and calibration of inertial navigation equipment. In this paper, based on the background of single axis gyro test turntable, after deeply analyzing its positioning and rate index requirements, the position and rate control system of turntable based on PC104 is designed, and the design of turntable control system with all digital scheme is realized. At the same time, on this basis, the control algorithm is further analyzed and designed to obtain higher control accuracy. Before designing the control strategy, the controlled object of the turntable should be modeled, and the corresponding model should be established according to the actual running state of the turntable, which lays the foundation for the design and simulation of the next control algorithm. In order to make the turntable take into account the accuracy and obtain faster response speed, the control algorithm is divided into two parts: large deviation and small deviation: the controller with large deviation can approach the target position quickly and smoothly in the running process of the turntable. The key part is the design of small deviation controller. In the debugging process, the two-stage lead lag correction controller is selected. On this basis, the neural network optimization method of PID control parameters is proposed to improve its control performance. Finally, the simulation research is carried out. This paper is based on the actual engineering project as the background. Therefore, the hardware and software design of the system also occupies a key position. Whether the hardware and software design is correct or not is directly related to the control performance of the whole system. The system selects Yanhua embedded motherboard PCM3343-PC104, as the core to design the peripheral angle measurement system, data processing system, signal processing module and communication system. The signal processing module is implemented by EPLD to simplify the circuit. The design of the software mainly includes the design of control system, upper computer control interface and high speed serial communication. The control system realizes 1ms sampling timing control through timing interrupt, and the upper computer control interface and high speed serial communication should be programmed by C and VB at the same time. Finally, the debugging of the system and the data analysis and summary of the final debugging results are completed. Through the analysis of the experimental data obtained from the turntable detection, it is verified that the positioning accuracy, speed accuracy and stability of the system can meet the requirements of users.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TP183

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