基于DSP双轴稳定控制平台设计
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摘要
本文研制了基于DSP的双轴稳定控制平台，阐述了平台设计要求、设计方案和实现方法。该平台主要应用于框架式导引头。框架式导引头通常采用直流电机作为力矩器，考虑到步进电机有定位精确、容易控制的特点，本文尝试了步进电机驱动方案。
平台由摇杆控制器、主控板、驱动器和框架式光学系统四个部分组成。本文叙述了控制回路工作原理和主控板的软硬件设计。主控板以TMS320F2812为微处理器，ADS7852为模数转换器；控制律采用基于Z-N公式的积分分离增量PID算法。
程序设计采用模块化方法设计，主要由ADC采样、串口通讯、控制算法实现、电机驱动四个模块组成。本文从理论上建立了控制回路仿真模型，进行了MATLAB仿真，验证了控制回路正确性。最后对平台进行了模拟性能测试，测试结果表明，平台运行良好，性能达到设计要求。同时表明了步进电机驱动方案的可行性。平台个别环节有待进一步优化和完善。
This thesis designes a stable platform with two axes based on DSP, describing itsrequirement and target, as well as the realizing method. This platform is mainly used tocontrol the optical axis of frame TV-guided aimer to be stable. DC motor is often selectedas the torquer, however, step motor is character of precise locating and easy controlling,so the target with step motor has been implemented.
The platform consists of four main parts: rocker, controller board, motor drivers andframe optical system. This thesis gives a particular description on the hardware andsoftware design of controller board, on which the MCU is Tms320F2812 and the ADC isADS7852.The control method, with respect to the software, is integral-separated PIDbased on Z-N formula.
Program on board, including four modules: sampling data, serial communication,processing data and driving motors, is designed in a module manner. This thesis executesa simulation of platform modle in MATLAB,the result shows that the modle is valid. Atlast, Some tests are implemented, the platform performes well as expected, althoughsome parts are still to be perfected.
平台由摇杆控制器、主控板、驱动器和框架式光学系统四个部分组成。本文叙述了控制回路工作原理和主控板的软硬件设计。主控板以TMS320F2812为微处理器，ADS7852为模数转换器；控制律采用基于Z-N公式的积分分离增量PID算法。
程序设计采用模块化方法设计，主要由ADC采样、串口通讯、控制算法实现、电机驱动四个模块组成。本文从理论上建立了控制回路仿真模型，进行了MATLAB仿真，验证了控制回路正确性。最后对平台进行了模拟性能测试，测试结果表明，平台运行良好，性能达到设计要求。同时表明了步进电机驱动方案的可行性。平台个别环节有待进一步优化和完善。
This thesis designes a stable platform with two axes based on DSP, describing itsrequirement and target, as well as the realizing method. This platform is mainly used tocontrol the optical axis of frame TV-guided aimer to be stable. DC motor is often selectedas the torquer, however, step motor is character of precise locating and easy controlling,so the target with step motor has been implemented.
The platform consists of four main parts: rocker, controller board, motor drivers andframe optical system. This thesis gives a particular description on the hardware andsoftware design of controller board, on which the MCU is Tms320F2812 and the ADC isADS7852.The control method, with respect to the software, is integral-separated PIDbased on Z-N formula.
Program on board, including four modules: sampling data, serial communication,processing data and driving motors, is designed in a module manner. This thesis executesa simulation of platform modle in MATLAB,the result shows that the modle is valid. Atlast, Some tests are implemented, the platform performes well as expected, althoughsome parts are still to be perfected.
引文
1 张万清主编．飞航导弹电视导引头．北京：宇航出版社，1994
2 胡寿松主编．自动控制理论．第四版．北京：科学技术出版社，2000
3 金以慧主编．过程控制．北京：清华大学出版社，1991
4 苏奎峰等．TMS320F2812原理与开发．北京：电子工业出版社，2005
5 步进电机小知识www.xiao-qi.com/netfile/stepping/html
6 贾吴，张春光，樊丽萍．基于DSP2812的电源可靠性的硬件设计．通信电源技术．2005(5)
7 罗云飞，张昆仑．嵌入式DSP在电机控制中的应用．电机元器件应用．2004(6)
8 熊远生钱，钱苏翔，高金风．基于DSP的步进电机控制系统与上位机的串行通信设计．机电工程．2004(21)
9 谷海涛，颜相武，于世涛．新型电机控制芯片TMS320F2812．微电机．2 2005(38)
10 高建尧等．基于DSP的无人机导航系统数据通信．武器装备自动化．2005(24)
11 李红等．TMS320F2812定点DSP芯片的．CMD文件配置．仪器仪表用户．2004(11)
12 Multichannel RS-232 Drivers/Receivers Rev 15 1/06
13 DUAL-OUTPUT LOW-DROPOUT VOLTAGE REGULATORS TPS767D3xx TI Inc.
14 MS320x281x DSP Boot ROM Reference Guide TI Inc. 2004
15 TMS321x281x DSP System Control and Interrupts Reference Guide TI Inc. 2004
16 TMS320C28x DSP CPU and Instruction Set Reference Guide TI Inc. 2004
17 TMS320x281x DSP Event Manager (EV) Reference Guide. TI Inc. 2004
18 TMS320x281x、280x DSP Serial Communication Interface (SCI) Reference Guide TI Inc. 2004
19 TMS320F2810 TMS320F2811 and TMS320F2812 SDFlash JTAG Flash Programming Utilities TI Inc. 2003
20 TMS320C28x Instruction Set Simulator Technical Overview TI Inc. 2003
21 Running an Application from Internal Flash Memory on the TMS320F28xx DSP Spectrum Digital, Inc 2006
22 TMS320C28x Assembly Language Tools User' s Guide TI Inc. 2001
23 TMS320x281xDSP External Interface (XINTF) Reference Guide TI Inc. 2002
24 ADS7852 Burr-Brown Corporation 1998
25 eZdsp TMS320F2812 Technical Reference Spectrum Digital, Inc. 2003
26 TMS320F2810/TMS320F2811/TMS320F2812/TMS320C2810/TMS320C2811/TMS320C2812 Digital Signal Processors Data Manual TI Inc. 2005
28 Using PWM Output as a Digital-to-Analog Converter on a TMS320F280x Digital Signal Controller TI Inc. 2006
29 TMS320x281xDSP Analog-to-Digital Converter (ADC) Reference Guide Spectrum Digital Inc. 2004
30 C281x C/C++ Header Files and Peripheral Examples TI Inc. 2003
31 TMS320x281x, 280x DSP Serial Peripheral Interface (SPI) Reference Guide TI Inc. 2004
32 TMS320C28x Optimizing C/C++ Compiler User' s Guide TI Inc. 2001
33 TMS320 DSP/BIOS User' s Guide TI Inc. 2004
34 Introduction to the Controller Area Network (CAN) TI Inc. 2003
35 Control of a Compaiant Two-axis Robotic Arm Richard Jones
36 Converting Analog Controllers to Smart Controllers with the TMS320C2000 DSPs TI Inc. Application Report SPRA995-June 2004
37 eZdspTM R2812 USB Technical Reference SPECTRUM DIGITAL, INC. 2004
38 eZdspTM F2812 Technical Reference SPECTRUM DIGITAL, INC. 2004
39 3.3V DSP for Digital Motor Control TI Inc. Application Report SPRA550
40 SofP. I. Dre P.I.D Control of an Inverted Pendulum Using the PICI6F684 John Charais Ruan Lourens Microchip Technology Inc.
41 高世杰等．基于TMS320F240控制步进电机的调焦系统设计．微计算机信息(嵌入式与SOC)．2005(21)
42 刘和平等．TMS320LF240xDSP C语言开发应用．北京：北京航空航天大学出版社，2003
43 清源科技．TMS320LF240xDSP应用程序设计教程．北京：机械工业出版社，2003
44 江思敏等．TMS320LF240xDSP硬件开发教程．北京：机械工业出版社，2003
45 Micbael Barr著于志宏译．C／C++嵌入式系统编程．北京：中国电力出版社，2004
46 王正军．Microsoft visual C++6.0程序设计从入门到精通．北京：电子工业出版社，2006
47 吴金中．电视导引系统的视轴稳定跟踪技术．战术导弹技术，2002(1)
48 周凯，陆启建．步进驱动系统的复合控制．电气自动化．1999(1)
2 胡寿松主编．自动控制理论．第四版．北京：科学技术出版社，2000
3 金以慧主编．过程控制．北京：清华大学出版社，1991
4 苏奎峰等．TMS320F2812原理与开发．北京：电子工业出版社，2005
5 步进电机小知识www.xiao-qi.com/netfile/stepping/html
6 贾吴，张春光，樊丽萍．基于DSP2812的电源可靠性的硬件设计．通信电源技术．2005(5)
7 罗云飞，张昆仑．嵌入式DSP在电机控制中的应用．电机元器件应用．2004(6)
8 熊远生钱，钱苏翔，高金风．基于DSP的步进电机控制系统与上位机的串行通信设计．机电工程．2004(21)
9 谷海涛，颜相武，于世涛．新型电机控制芯片TMS320F2812．微电机．2 2005(38)
10 高建尧等．基于DSP的无人机导航系统数据通信．武器装备自动化．2005(24)
11 李红等．TMS320F2812定点DSP芯片的．CMD文件配置．仪器仪表用户．2004(11)
12 Multichannel RS-232 Drivers/Receivers Rev 15 1/06
13 DUAL-OUTPUT LOW-DROPOUT VOLTAGE REGULATORS TPS767D3xx TI Inc.
14 MS320x281x DSP Boot ROM Reference Guide TI Inc. 2004
15 TMS321x281x DSP System Control and Interrupts Reference Guide TI Inc. 2004
16 TMS320C28x DSP CPU and Instruction Set Reference Guide TI Inc. 2004
17 TMS320x281x DSP Event Manager (EV) Reference Guide. TI Inc. 2004
18 TMS320x281x、280x DSP Serial Communication Interface (SCI) Reference Guide TI Inc. 2004
19 TMS320F2810 TMS320F2811 and TMS320F2812 SDFlash JTAG Flash Programming Utilities TI Inc. 2003
20 TMS320C28x Instruction Set Simulator Technical Overview TI Inc. 2003
21 Running an Application from Internal Flash Memory on the TMS320F28xx DSP Spectrum Digital, Inc 2006
22 TMS320C28x Assembly Language Tools User' s Guide TI Inc. 2001
23 TMS320x281xDSP External Interface (XINTF) Reference Guide TI Inc. 2002
24 ADS7852 Burr-Brown Corporation 1998
25 eZdsp TMS320F2812 Technical Reference Spectrum Digital, Inc. 2003
26 TMS320F2810/TMS320F2811/TMS320F2812/TMS320C2810/TMS320C2811/TMS320C2812 Digital Signal Processors Data Manual TI Inc. 2005
28 Using PWM Output as a Digital-to-Analog Converter on a TMS320F280x Digital Signal Controller TI Inc. 2006
29 TMS320x281xDSP Analog-to-Digital Converter (ADC) Reference Guide Spectrum Digital Inc. 2004
30 C281x C/C++ Header Files and Peripheral Examples TI Inc. 2003
31 TMS320x281x, 280x DSP Serial Peripheral Interface (SPI) Reference Guide TI Inc. 2004
32 TMS320C28x Optimizing C/C++ Compiler User' s Guide TI Inc. 2001
33 TMS320 DSP/BIOS User' s Guide TI Inc. 2004
34 Introduction to the Controller Area Network (CAN) TI Inc. 2003
35 Control of a Compaiant Two-axis Robotic Arm Richard Jones
36 Converting Analog Controllers to Smart Controllers with the TMS320C2000 DSPs TI Inc. Application Report SPRA995-June 2004
37 eZdspTM R2812 USB Technical Reference SPECTRUM DIGITAL, INC. 2004
38 eZdspTM F2812 Technical Reference SPECTRUM DIGITAL, INC. 2004
39 3.3V DSP for Digital Motor Control TI Inc. Application Report SPRA550
40 SofP. I. Dre P.I.D Control of an Inverted Pendulum Using the PICI6F684 John Charais Ruan Lourens Microchip Technology Inc.
41 高世杰等．基于TMS320F240控制步进电机的调焦系统设计．微计算机信息(嵌入式与SOC)．2005(21)
42 刘和平等．TMS320LF240xDSP C语言开发应用．北京：北京航空航天大学出版社，2003
43 清源科技．TMS320LF240xDSP应用程序设计教程．北京：机械工业出版社，2003
44 江思敏等．TMS320LF240xDSP硬件开发教程．北京：机械工业出版社，2003
45 Micbael Barr著于志宏译．C／C++嵌入式系统编程．北京：中国电力出版社，2004
46 王正军．Microsoft visual C++6.0程序设计从入门到精通．北京：电子工业出版社，2006
47 吴金中．电视导引系统的视轴稳定跟踪技术．战术导弹技术，2002(1)
48 周凯，陆启建．步进驱动系统的复合控制．电气自动化．1999(1)
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