【作者】 侯伟波；

【导师】 盛英；

【作者基本信息】 西安电子科技大学 ， 机械制造及其自动化， 2007， 硕士

【摘要】 针对某型号弹上舵机采用的小型稀土力矩电机与谐波减速器的组合方案,本文设计了一种组合式分段控制算法。该算法考虑到谐波传动在一定的尺度范围内具有参数自相似性的特点,利用线性模型与分形模型所表达的规律性之间存在的固有互补性,在精调部分采用基于分形几何度量变化率特征修正的增量PID控制器。本文在硬件系统搭建方面,制定了分两步走的方案。第一阶段为设计实现以MCU+FPGA为核心基于USB2.0通信总线的单路舵机控制系统,目的是在进行大量试验的前提下获得适合本系统的控制算法和关键控制参数;第二阶段为在获得了前期经验的基础上,设计实现以DSP为核心基于CAN2.0通信总线的四路舵机控制系统,移植微调前期获得的算法,并采取相应措施提高控制器板卡的集成度和抗干扰能力。现场联调测试结果表明该控制系统具有抗干扰性能好、控制品质优等特点。最后本文分析了影响系统性能的各种因素,并从软件算法和硬件电路设计两方面提出了具体的改进措施。更多还原

【Abstract】 Aiming at the steering gear machinery in some missiles,adopting the combined configuration of small rare earth torque motor and harmonic drive reducer, a combined control strategy is designed. Considering the change with velocity and small damp of harmonic drive, adopting the complement between linear model and fractal model, The increasing PID (Proportional–Integral–Derivative)control system based on the rate character of fractal geometry is its exact section.In the aspect of hardware system, two design steps are constituted. In the first period, the control system based on the structure of CPU+FPGA with USB2.0 has been designed to get the specialty of this system and obtain the suitable algorithm. Based on the anterior experience, in the second period, the DSP control system with CAN2.0 has been designed, which is more integrated and more dependable. The testing result indicates that this control system has the merits such as good capability of anti-jamming, excellent control quality, and so on.At the end of the paper, all factors that affect system performance are analyzed, and optimization designs are presented.更多还原