【作者】 张玉良；

【导师】 王茂；

【作者基本信息】 哈尔滨工业大学 ， 导航、制导与控制， 2007， 硕士

【摘要】 本文以一个THAT型双轴伺服转台控制系统的设计为背景,对转台控制系统的硬件和软件进行了详细的研究,在硬件方面本文设计了计算机接口板卡、A/D和D/A转换电路、单片机控制系统板,设计并实际调试了由感应同步器和旋转变压器构成的双通道鉴幅鉴相型动态测角系统,并对整个转台系统进行了联调;在软件方面本文用VC语言编写了系统的上位机操作界面程序、单片机控制程序和测角程序。调试结果证明整个系统的设计能很好的满足用户提出的各项指标要求。在转台控制系统的实际设计中,本文采用经典控制理论进行系统设计,根据系统性能的需要将转台控制系统设计成一个双回路控制系统,其设计思想是:当转台偏差信号较大时,采用粗回路控制使转台能够快速接近希望位置;当偏差信号较小时,采用精回路控制以保证系统控制的精度。通过设计调试分析,可以得出结论:转台系统设计的难点还是在测角系统,尤其是精度要求较高的动态系统,测角精度直接会影响系统的精度。而双通道耦合测角系统,其粗测角通道既满足了精度的要求又使电路在实现上简单化,其精测角通道采用的双相激磁单向输出的鉴相测角方案是测角精度的保障。总之,在精度要求较高的情况下这种测角方案比较好用,在实际系统的调试中也取得了良好的控制效果。更多还原

【Abstract】 Based on the research of a THAT two-axis turntable’s control system, a set of hardware and software is designed. In the hardware we designed an interface circuit、A/D switching circuit、D/A switching circuit and a local circuit board, debugged the angular measuring system construct of rotary transformer and inductosyn and the whole turntable’s control system. The software includes the control program, the angular measuring program and the interface program of computer programmed with VC language. The debugging result testified that our system absolutely reached the norms of system performance presented by client.In turntable’s control system design, classical control method is still widely used. A double loop control system is designed in this paper. The main idea is: when the position error is large, coarse position control is effective to approach the given position quickly; when the position error is small, fine position control is effective to guarantee the control accuracy.By the debugging and analysis of turntable’s system, we can conclude that the difficulty of designing a turntable’s control system is still in the angular measuring system and the precision of the angular measuring system will directly influence the whole system’s accuracy especially in the high accuracy system. But the method of double channels angular measurement in this paper is available, which its coarse channel can meet the precision of the coarse measurement and make the circuit easy and its fine channel adopts the method of bidirectional exciting and distinguishing from phase to measure the angular that can effectively guarantee the measuring accuracy, especially when we desire the whole system in high accuracy. The practice has approved that this method is available.更多还原