【作者】 李东明；

【导师】 谈振藩；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 航海、航空和航天事业的迅速发展离不开惯性导航系统，而其中的平台稳定回路是事关导航精度的重要部分。传统的平台稳定回路是以模拟电子系统实现的，存在体积大、成本高、故障频繁等缺陷，因此选择数字控制成为一种发展方向。正是在这样的背景下本文对基于DSP的平台稳定回路数字控制进行了研究。 本文对平台稳定回路进行了理论分析和校正。通过设计和仿真，验证了传统的单闭环经典PID控制规律在控制精度、响应速度方面的可行性，并通过引入速度反馈的双闭环控制，克服了单闭环系统在抗干扰性能方面的欠缺。在双闭环控制的基础上，通过对多种模糊控制方法的分析比较，本文尝试采用模糊—线性双模控制方案对系统进行校正。模糊—线性双模控制的速度环以及位置环的线性控制器结构都与线性双闭环控制的相同，位置环的模糊控制器为修正因子自调整无量化模糊控制器，利用输出强度系数实现两种控制的平滑过渡。这种控制方案的应用，使系统在速度、精度尤其抗干扰能力方面均有良好的效果。 本文对平台稳定回路数字控制系统进行了软硬件设计。硬件设计部分重点介绍了数字控制器和速度输出环节的硬件接口和工作原理；软件设计部分重点介绍了与芯片硬件结构紧密联系的PWM波形产生程序模块。选用美国德州仪器公司的定点DSP芯片作为数字控制的核心芯片，具有高效、高速、高精度等优点，而且本文所选用的TMS320F240芯片能够提供12路PWM输出，为电机控制提供了极大的方便。选用美国模拟器件公司的R／D转换器AD2S81A代替测速发电机的功能获得速度反馈信号，减小了系统体积，提高了系统可靠性。更多还原

【Abstract】 The inertial navigation system (INS) has a close relationship with the development of navigation, aviation and spaceflight. And the precision of INS is determined by the platform stabilization loop to a certain extent. The conventional platform stabilization loop is constructed by analogue electronic system, which makes the system big, costly and frequently in failure, so digital control is adopted as a new direction. Under this background platform stabilization loop based on DSP is researched in this paper.The platform stabilization loop is theoretically analyzed and compensated. The experimentation result of design and emulation argues that the conventional single-loop PID control is feasible in control precision and response speed, but on the other hand this control method makes the platform system lack of desirable disturbance rejection. But then the problem is solved by double-loop control method which introduces speed feedback into the system. Refer to the above and the analysis and comparison of several fuzzy control methods, the method of fuzzy-linear dual-mode control is proposed. In this instance the structures of speed-loop and position-loop linear controller are identical with those of the linear double-loop system, and the position-loop fuzzy controller is non-quantificational and its factor is self-tuning. In addition the transition of the two controllers of the position-loop is smoothed by using the output intensity coefficients. With this method the platform system has good effect in response speed, precision and disturbance rejection.The software and hardware of digital platform stabilization loopis designed. Hardware interface and theory of digital controller and velocity output are emphasized in hardware design section; PWM wave producing module closely related chip structure is emphasized in software design section. Because DSPs have the advantage in efficiency, speed and precision, TMS320F240, a product of Texas Instruments Inc., which has 12 PWM output channels, is chosen as the core chip of the digital control system. It makes the motor control more convenient. AD2S81A, R/D converter of Analog Devices Inc., is chosen to substitute for the velocity measuring dynamo to gain the speed feedback signal. It reduces the system dimension and improves the system reliability.更多还原