高性能伺服负载试验台研制

【作者】 胡杰；

【导师】 王执铨；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 军事、航天等领域伺服系统不但要求较高的动态性能、稳定性和精确性等技术指标,而且有大转动惯量、超高速性、大调速范围和非线性等不利于控制的因素。从控制难度和设计成本的角度考虑,直接对实际伺服系统进行研制和调试不太合适,故有必要研制一套伺服负载试验台来模拟实际伺服系统的功能。本课题的研究对象是高性能伺服负载试验台,它能模拟实际伺服系统的功能并达到规定的指标要求。本文的主要工作包括以下几方面:(1)设计伺服负载试验台的总体方案和框架结构,并按功能对基于上下位机结构的伺服负载试验台进行模块划分,进而详细阐述其工作原理。对伺服负载试验台的关键部件进行设计,并深入研究其工作过程。针对伺服负载试验台主要组成部件的选型进行了参数计算、原理分析和研究。(2)伺服负载试验台的硬件设计。设计伺服控制器,实现轴角编码、串口扩展、RS-422接口转换、D/A转换和运放等功能。设计并行接口板,包括并行通讯接口转换电路和RS-422串行通讯电路。结合理论分析并对以上每个电路的实现过程进行详细描述。(3)伺服负载试验台的软件设计。设计伺服控制器和并行接口板的通讯软件。按照软件工程的思想,给出软件的总体流程图,并按照功能需求进行详细设计。设计上位控制计算机的监控软件,实现信号发生、性能分析、曲线显示等功能。(4)伺服控制算法的设计。针对本伺服负载试验台的特殊性,实现了伺服控制的3种典型算法:积分分离的数字PID、分区数字PID和前馈—反馈复合控制,经多次试验和调试整定参数。经过现场安装,实际运行调试,结果表明本文研制的伺服负载试验台实现了所需的功能,并达到了既定的性能指标。更多还原

【Abstract】 The object which this project would research was a high performance loaded servo test-bed. It could simulate the function of real servo and meet the requirement of stated guide line. The real servo not only had the high-demand technical guide line such as dynamic performance, stability and accuracy, but also had the bad-control factor such as large moment of inertia, over high speed characteristic, large timing range and nonlinear and so on. With the angle of controlling difficulty and designing cost, it was not suitable to develop and test on the real servo directly. It would be necessary to develop a loaded servo test-bed to simulate the function of real servo. The main task of this paper was stated as follows:(1) The total blue print and framework was designed. The loaded servo test-bed with up-down architecture into modules was carved up by function. Working principle was stated. The key departments was designed and the working process was researched deeply. The parameters was computed and the principle on the choice of main parts of loaded servo test-bed was analyzed.(2) The hardware of loaded servo test-bed was developed. Both the servo controller and parallel interface board were included. Axial angle coding , serial port increasing, RS-422 interface conversing , D/A conversing and operation magnifying were realized in the servo controller. Parallel communication interface conversing, RS-422 serial port communication were realized in the parallel interface board.(3) The software of loaded servo test-bed was designed. The communication software of servo controller and parallel interface board were designed. The total flow chart was got with the idea of software project. The detailed designing was given by the function need. The monitor software of upper controlling computer which could do the signal-producing, performance-analyzing, curve-showing was designed.(4) Servo controlling methods were researched. By the particularity of this loaded servo test-bed, three typical controlling methods which were PID algorithm with separated integrator, PID algorithm with divided scopes and feedforward-feedback compound controlling were designed. After installation and testing in the spot, the data result proved that this loaded servo test-bed had realized the required function and reached the technical guide line.更多还原