基于DSP的小型电动舵机伺服控制系统研究

【作者】 张元；

【导师】 周长省；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2012， 硕士

【摘要】 电动舵机系统是一种复杂的机电一体化系统,同时也是一种高精度的位置伺服系统,对弹体的姿态控制具有重要影响。为了提高舵机系统的控制性能,本文结合电动舵机系统的特点,设计了基于无刷直流电机的控制系统,并对舵机系统的控制策略进行了研究。本文首先介绍了无刷直流电机的结构组成和工作原理,建立了无刷直流电机的数学模型。根据舵机系统的控制流程,通过MATLAB/SIMULINK窗口建立了系统各个工作部分的仿真模型,为不同控制器下的系统仿真奠定了基础。电动舵机控制系统一般采用三闭环PI控制,本文在不改变速度环和电流环控制算法的基础上,设计了位置环的控制算法：PID控制和模糊PID控制。通过仿真对比分析了不同控制器下舵机系统的响应性能和跟踪性能。在理论分析的基础上,本文以TI公司的数字信号处理器DSP-TMS320F2812为核心控制芯片,并结合CAN总线对电动舵机控制系统进行了硬件设计和软件设计。其中硬件部分包括通信接口电路设计、MOSFET驱动电路设计、光电隔离电路设计等。软件部分包括主程序设计、初始化程序设计、位置环算法设计和通信界面设计等。最后,对系统进行了软硬件调试,并在不同控制器下进行了快速性能实验和跟踪性能实验。仿真和实验结果表明,PID控制和模糊PID控制都能应用于电动舵机控制系统,并能达到预期的目标,其中模糊PID控制器比传统的PID控制器控制效果更好。更多还原

【Abstract】 The electric actuator system is a complex electro-mechanical system, at the same time also is a kind of high precision position servo system.It has important influence to body’s attitude control. In order to improve the control performance of electric actuator system, on the basis of the characteristics of the electric actuator system, this paper designed a control system by brushless dc motor, and the system control strategy is researched.This paper introduces the structure composition and working principle of the brushless dc motor,and established mathematical model of brushless dc motor.According to the electric actuator system’s control process, all parts of the system’s simulation models are created through the MATLAB/SIMULINK window,lay the foundation of the system simulation under different controllers.The electric actuator controll system adopts the three-loop control strategy generallly,on currently foundation of keep speed loop and current loop control algorithm invariably, this paper designed the position loop control algorithm:PID controll and fuzzy-PID control.The system’s response and tracking performance under different controllers are analysised through the simulation.On the basis of theoretical analysis, this paper takes the TI company Digital Signal Processor (DSP)-TMS320F2812 as the core control chip,and hardware parts and software parts are designed combine CAN bus.The hardware parts includes communication interface circuit design,MOSFET driving circuit design,optoelectric isolation circuit design. The software includes the main program design, initialization subprogram design, the position loop algorithm design and communication interface window design,etc.Finally, the system hardware and software are debug, and response performance experiment and tracking performance experiment are conducted. The simulation and experimental results show that, PID control and fuzzy PID control can be applied to the electric control system, all can achieved the desired objectives,but the fuzzy PID controller’s control effect is better than traditional PID controller.更多还原