【作者】 刘小会；

【导师】 王惠南；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2014， 硕士

【摘要】 机载光电吊舱利用光电传感实现对目标的探测、识别、瞄准、跟踪、导航等功能。本文以机载光电吊舱控制系统为研究对象，基于Altera公司的FPGA硬件平台，采用Nios II软核处理器实现吊舱的基本控制功能。采用ALTERA公司的Cyclone II系列的芯片作为吊舱控制系统的核心，利用NIOS II软核处理器创建一个可定制的片上系统（SOPC）。NIOS II系统自身具备一些IP核，为了更好地实现系统功能，提高系统性能，本文由HDL语言自定义了一些IP核（PWM、CORDIC、FLOAD等），根据需要将这些IP核添加到NIOS II系统，之后将整个系统下载到FPGA中，最后采用PID控制策略由软件编程实现对光电吊舱的整体控制。针对光电吊舱在空中易受飞机姿态变化、风阻、机械振动、负载扰动等影响而造成控制系统不稳定的问题，本文进行了先进控制算法的理论研究。传统参数固定的PID控制器限制了光电吊舱系统性能的进一步提升，在研究了多种先进控制理论后，本文提出采用布谷鸟搜索算法（CS）优化模糊PID控制的方法对光电吊舱系统进行控制。采用SIMULlINK对吊舱模糊控制系统进行系统仿真，将布谷鸟搜索算法（CS）与粒子群算法（PSO）运用到该模型仿真中进行优化，对比两种算法的优化效果，结果表明布谷鸟搜索算法效率更高，光电吊舱模糊PID控制系统采用CS优化后，达到了较好的控制效果。为了更好地将模糊控制器应用到实际工程中，设计出基于硬件平台的模糊控制器，本文通过FPGA硬件开发环境Quartus II初步实现模糊控制器的设计。为了完成模糊控制器的整体设计，首先对模糊控制器进行模块划分，本文采用的是图形设计及HDL文本形式的方法实现各个功能模块，在Quartus II9.0进行仿真，仿真结果表明，基于FPGA的模糊控制器达到了预期的效果。更多还原

【Abstract】 The airborne electro-optical pod achieve the target detection, identification, targeting,tracking, navigation and other functions by using photoelectronic sensors. This paper mainlystudies on the airborne electro-optical pod control system, and the ALTERA Cyclone II series chipis used as the core of the control system pod, using NIOS II soft-core processor to create acustomizable system-on-a-programmable-chip (SOPC). NIOS II system itself has some IP cores,in order to better achieve the system functions, the paper also customizes some IP cores (PWM,CORDIC, FLOAD, etc.) by the HDL language, and adds them to the NIOS II system to form theNIOS II system, then this system will be downloaded to the FPGA implementation, last initialPID algorithm using software programming to realize the optical pod overall control.Due to the vibration of carrier, wind resistance, mechanical vibration and load disturbance,the system can be unstable, While PID controller with traditional fixed parameters can’t meet thecontrol requirements. To solve these problems, the fuzzy-PID control optimized by the cuckoosearch algorithm are proposed. In this paper, SIMULINK is used to simulate the pod controlsystem model with the optimized controller, compared the simulation results between the twooptimization methods, the result optimized by CS(the cuckoo search) are proved to be moreefficient than that with PSO(the particle swarm optimization) and the airborne electro-optical podcontrol system using optimized fuzzy-PID control has a good control effect.In order to apply the fuzzy controller better, the fuzzy controller is realized by hardwaremodules, we use the FPGA to implement the intelligent fuzzy controller. First, the fuzzy controlleris designed dividedly controller by FPGA hardware development environment Quartus II. In thispaper, the graphic design and the HDL text form are adopted to achieve the various functions. Andthe modules are simulated in Quartus II9.0, the simulation results show that the fuzzy controllerbased on FPGA achieve the envisaged results.更多还原