基于DSP的电动加载控制器设计
摘要
舵机电动加载系统是武器系统地面仿真试验的重要设备,功能是在实验室条件下复现飞行器在飞行过程中舵面所受的空气力矩,其实质是一种被动式力矩伺服系统。本文设计了以TMS320F2812 DSP为中心的舵机电动加载系统的控制器,能够完成对电机的运转和停止的控制,能够实时采集和存储加载信号、转矩信号和角位移信号,完成程序设定的控制算法,输出加载曲线,可接收前台控制计算机命令并执行相应动作,把实验数据传输给前台计算机。
论文提出了具体的电动加载控制器设计方案,研究了基于前馈校正和闭环PID的控制方法,以矢量控制永磁同步电机模型为对象,利用Simulink工具对多余力矩的产生、多余力抑制方法及PID闭环控制等内容进行了仿真分析。本文设计了以DSP TMS320F2812为核心的硬件电路,实现了A/D、D/A、正交编码脉冲单元、SCI通信模块及I/O等各部件的联接调试,讨论了硬件电路的可靠性和抗干扰措施。论文采用DSP开发软件CCS3.1完成了系统控制程序的编写,包括硬件初始化、A/D采集、加载信号的发生和数据通信程序。详细研究了包括角加速度算法、PID、滤波等一系列核心算法。上位机采用LabVIEW作为编程软件,设计了人机交互界面。
The electrical torque loading system is essential simulation equipment for weapon systems. The system is used for reproducing the aerodynamic torque of rudder surface under the experimental conditions. It is a passive force serve system. In this dissertation, a controller of electric loading simulation system based on DSP TMS320F2812 is designed. It can operate and stop the motor, acquire and storage load signal, torque signal and angle signal, perform the programmed control algorithm, output load curve. The controller can exchange data with the computer and excute the commands from the computer.
A design scheme of the electrical load controller is proposed. The feed-forward correction and PID control methods are studied. The surplus torque, the method for suppressing surplus torque and closed-loop PID control methods are simulated with Simulink by taking the vector permanent magnet synchronous motor model as example. The hardware circuits with DSP TMS320F2812 as the core are designed. The components of the hardware, A/D, D/A, orthogonal pulse unit, SCI communication modules and I/O etc are debudded. The reliability of the hardware and anti-jamming measures are discussed. The control program including hardware initialization, A/D acquisition, generation of load signal and data communication are compiled by DSP development software CCS3.1. The core algorithm including angular acceleration, PID, filtering is studied in detail. The human-computer interface is designed with Labview.
论文提出了具体的电动加载控制器设计方案,研究了基于前馈校正和闭环PID的控制方法,以矢量控制永磁同步电机模型为对象,利用Simulink工具对多余力矩的产生、多余力抑制方法及PID闭环控制等内容进行了仿真分析。本文设计了以DSP TMS320F2812为核心的硬件电路,实现了A/D、D/A、正交编码脉冲单元、SCI通信模块及I/O等各部件的联接调试,讨论了硬件电路的可靠性和抗干扰措施。论文采用DSP开发软件CCS3.1完成了系统控制程序的编写,包括硬件初始化、A/D采集、加载信号的发生和数据通信程序。详细研究了包括角加速度算法、PID、滤波等一系列核心算法。上位机采用LabVIEW作为编程软件,设计了人机交互界面。
The electrical torque loading system is essential simulation equipment for weapon systems. The system is used for reproducing the aerodynamic torque of rudder surface under the experimental conditions. It is a passive force serve system. In this dissertation, a controller of electric loading simulation system based on DSP TMS320F2812 is designed. It can operate and stop the motor, acquire and storage load signal, torque signal and angle signal, perform the programmed control algorithm, output load curve. The controller can exchange data with the computer and excute the commands from the computer.
A design scheme of the electrical load controller is proposed. The feed-forward correction and PID control methods are studied. The surplus torque, the method for suppressing surplus torque and closed-loop PID control methods are simulated with Simulink by taking the vector permanent magnet synchronous motor model as example. The hardware circuits with DSP TMS320F2812 as the core are designed. The components of the hardware, A/D, D/A, orthogonal pulse unit, SCI communication modules and I/O etc are debudded. The reliability of the hardware and anti-jamming measures are discussed. The control program including hardware initialization, A/D acquisition, generation of load signal and data communication are compiled by DSP development software CCS3.1. The core algorithm including angular acceleration, PID, filtering is studied in detail. The human-computer interface is designed with Labview.
引文
[1] R. Yuan. J. Cao, G. Li, K. Zhao. Torque Control of Electro-hydraulic servo System Based on u-Synthesis Theory 1st International Symposium on Systems and Control in Aerospace and Astronautics.2006:1175-1179.
[2]张赟,王明彦.能量回馈型高精度加载电机驱动器拓扑研究.电力电子技术.2007,9:29.
[3]汪首坤,王军政.导弹舵机动态加载技术.北京理工大学学报.2007,3:250.
[4]王安敏.电液伺服负载模拟器加载特性的研究.哈尔滨工业大学工学博士学位论文,1995:6-7.
[5]谢峰,盛军.汽车变速器在线加载试验台可变加载装置的研究.控制与检测.2007,7:47.
[6]顾红静.单片机控制力矩加载控制系统的研究.北京理工大学硕士学位论文,2002:3-5.
[7]李本.电动伺服加载系统设计与研究.西北工业大学硕士学位论文,2006:1-4.
[8]周凤岐,陈瑜.一种新型的伺服系统——变结构谐波传动电动伺服系统.导弹与航天运载技术.2001,2:48-50.
[9]王明彦.电动负载模拟技术的研究.哈尔滨工业大学工学博士学位论文,2004,3:6-7.
[10]王明彦,郭犇.基于迭代学习控制的电动伺服负载模拟器.中国电机工程学报.2003,23.12:123-126.
[11]Wang MY, Guo B, Guan YD. Design of Electric Dynamic Load Simulator based on Recurrent Neural Networks. Proc. Of IEEE International Electronic Machines and Drives Conference. 2003,3:207-210.
[12]S.Y.Lee,H.S.Cho.A Fuzzy Controller for an Aero load Simulator Using Phase Plane Method. IEEE trans. on control systems technology.2001,9.6:791-801.
[13]Q.Fang,Y.Yao,L.Fan.Modeling and Validating of Electric Torque Load Simulator.Proceedings of the First Asia International Symposium onMechatronics.China:2004,1:83-88.
[14]方强.被动式力矩伺服控制系统设计方法及应用研究.哈尔滨工业大学工学博士论文,2006,6:19-30.
[15]鲍晟.导弹舵机电气加载及测试系统的设计.哈尔滨工业大学硕士学位论文,2000.7.
[16]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,2001:1-14,47-49, 78-91.
[17]谢宝昌,任永德.电机的DSP控制技术及其应用.北京航空航天大学出版社,2005:296-346.
[18]杨晓京,张仲彦等.几种开放式微机数控系统比较.制造业自动化.2002,24.1: 18-21.
[19]洪钟洲.数控系统的发展现状和趋势.机电一体化.1996:14-17.
[20]李波,黄伟志,王太勇.基于多轴运动控制器的开放式数控系统研究.精密制造.2003:116-119.
[21] DELTA TAU. PMAC USERS MANUAL, volume A. DELTA TAU.1997.
[22]孙志刚等.基于80c196kc的交流伺服电机控制卡的开发与应用.机械与电子.1999: 22-23.
[23]周永喜,施群,王小椿.基于DSP的运动控制卡的设计与实现.机床与液压.2003, 3.3:86-87,115.
[24]刘全秀,朱志红,唐晓琦等.数控系统中运动控制卡的设计与实现.机械工程师.2001:29-31.
[25]赵海波.基于Compact PCI总线的4轴步进/脉冲式伺服电机控制卡.北京化工大学硕士学位论文,2004:2.
[27]李振新.舵机电动加载矩控制的研究.哈尔滨工业大学硕士学位论文,2001:13-14.
[28]赵进军.基于DSP的力矩电机伺服加载系统研究.西北工业大学硕士学位论文,2003:10-11.
[29]S. J. Elliott, T. J. Sutton. Performance of Feedforward and Feedback Systems for Active Control. IEEE Trans. on Speech and Audio Processing, 1996, 4.3:214-223.
[30]郝经佳,许宏光等.一种用于电液负载仿真台的前馈补偿方法.机床与液压.2000,5:67-68.
[31]张雷.轮胎动态试验台在线测控系统的研制.吉林大学硕士学位论文,2002:45.
[32]秦文甫.基于DSP的数字化舵机系统设计与实现.清华大学工程硕士学位论文,2004:28-30.
[33]朱业鹏.PID控制器的参数整定及其稳定域研究.南京理工大学硕士学位论文,2007.
[34]王锦标,方崇智.过程计算机控制.北京:清华大学出版社,1992:23-40.
[35]李卓,萧德云,何世忠.基于FUZZY推理的自调整PID控制器.控制理论与应用.1997,2:238-243.
[36]徐科军,张瀚等.TMS320X281Xdsp原理与应用.北京航空航天大学出版社,2006:1-3.
[37]王君立,壮凌等.12位4路数模转换器MAX526与电片机的接口应用.国外电子元器件.2003,1:50-51.
[38]苏奎峰,吕强等.DSP原理及C程序开发.北京航空航天大学出版社,2008:12-33.
[39]杨明,狄卫国等.数字滤波技术及其在电池检测系统中的应用.现代电子技术.2003,5:98-99.
[40]任克强,刘晖.微机控制系统的数字滤波算法.现代电子技术.2003,3:15-18.
[41]韩富春,武天文.采用软件校正的TMS320F2812内置ADC采样值方案.太原理工大学学报.2006,37.2:173-175.
[42]赵宇萍,谢拴勤,郭晓康.TMS320C28x模数转换器的精度校正.西安:西北工业大学,2005.
[43]王磊等.精通LabVIEW8.0.电子工业出版社.2007:1-13.
[2]张赟,王明彦.能量回馈型高精度加载电机驱动器拓扑研究.电力电子技术.2007,9:29.
[3]汪首坤,王军政.导弹舵机动态加载技术.北京理工大学学报.2007,3:250.
[4]王安敏.电液伺服负载模拟器加载特性的研究.哈尔滨工业大学工学博士学位论文,1995:6-7.
[5]谢峰,盛军.汽车变速器在线加载试验台可变加载装置的研究.控制与检测.2007,7:47.
[6]顾红静.单片机控制力矩加载控制系统的研究.北京理工大学硕士学位论文,2002:3-5.
[7]李本.电动伺服加载系统设计与研究.西北工业大学硕士学位论文,2006:1-4.
[8]周凤岐,陈瑜.一种新型的伺服系统——变结构谐波传动电动伺服系统.导弹与航天运载技术.2001,2:48-50.
[9]王明彦.电动负载模拟技术的研究.哈尔滨工业大学工学博士学位论文,2004,3:6-7.
[10]王明彦,郭犇.基于迭代学习控制的电动伺服负载模拟器.中国电机工程学报.2003,23.12:123-126.
[11]Wang MY, Guo B, Guan YD. Design of Electric Dynamic Load Simulator based on Recurrent Neural Networks. Proc. Of IEEE International Electronic Machines and Drives Conference. 2003,3:207-210.
[12]S.Y.Lee,H.S.Cho.A Fuzzy Controller for an Aero load Simulator Using Phase Plane Method. IEEE trans. on control systems technology.2001,9.6:791-801.
[13]Q.Fang,Y.Yao,L.Fan.Modeling and Validating of Electric Torque Load Simulator.Proceedings of the First Asia International Symposium onMechatronics.China:2004,1:83-88.
[14]方强.被动式力矩伺服控制系统设计方法及应用研究.哈尔滨工业大学工学博士论文,2006,6:19-30.
[15]鲍晟.导弹舵机电气加载及测试系统的设计.哈尔滨工业大学硕士学位论文,2000.7.
[16]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,2001:1-14,47-49, 78-91.
[17]谢宝昌,任永德.电机的DSP控制技术及其应用.北京航空航天大学出版社,2005:296-346.
[18]杨晓京,张仲彦等.几种开放式微机数控系统比较.制造业自动化.2002,24.1: 18-21.
[19]洪钟洲.数控系统的发展现状和趋势.机电一体化.1996:14-17.
[20]李波,黄伟志,王太勇.基于多轴运动控制器的开放式数控系统研究.精密制造.2003:116-119.
[21] DELTA TAU. PMAC USERS MANUAL, volume A. DELTA TAU.1997.
[22]孙志刚等.基于80c196kc的交流伺服电机控制卡的开发与应用.机械与电子.1999: 22-23.
[23]周永喜,施群,王小椿.基于DSP的运动控制卡的设计与实现.机床与液压.2003, 3.3:86-87,115.
[24]刘全秀,朱志红,唐晓琦等.数控系统中运动控制卡的设计与实现.机械工程师.2001:29-31.
[25]赵海波.基于Compact PCI总线的4轴步进/脉冲式伺服电机控制卡.北京化工大学硕士学位论文,2004:2.
[27]李振新.舵机电动加载矩控制的研究.哈尔滨工业大学硕士学位论文,2001:13-14.
[28]赵进军.基于DSP的力矩电机伺服加载系统研究.西北工业大学硕士学位论文,2003:10-11.
[29]S. J. Elliott, T. J. Sutton. Performance of Feedforward and Feedback Systems for Active Control. IEEE Trans. on Speech and Audio Processing, 1996, 4.3:214-223.
[30]郝经佳,许宏光等.一种用于电液负载仿真台的前馈补偿方法.机床与液压.2000,5:67-68.
[31]张雷.轮胎动态试验台在线测控系统的研制.吉林大学硕士学位论文,2002:45.
[32]秦文甫.基于DSP的数字化舵机系统设计与实现.清华大学工程硕士学位论文,2004:28-30.
[33]朱业鹏.PID控制器的参数整定及其稳定域研究.南京理工大学硕士学位论文,2007.
[34]王锦标,方崇智.过程计算机控制.北京:清华大学出版社,1992:23-40.
[35]李卓,萧德云,何世忠.基于FUZZY推理的自调整PID控制器.控制理论与应用.1997,2:238-243.
[36]徐科军,张瀚等.TMS320X281Xdsp原理与应用.北京航空航天大学出版社,2006:1-3.
[37]王君立,壮凌等.12位4路数模转换器MAX526与电片机的接口应用.国外电子元器件.2003,1:50-51.
[38]苏奎峰,吕强等.DSP原理及C程序开发.北京航空航天大学出版社,2008:12-33.
[39]杨明,狄卫国等.数字滤波技术及其在电池检测系统中的应用.现代电子技术.2003,5:98-99.
[40]任克强,刘晖.微机控制系统的数字滤波算法.现代电子技术.2003,3:15-18.
[41]韩富春,武天文.采用软件校正的TMS320F2812内置ADC采样值方案.太原理工大学学报.2006,37.2:173-175.
[42]赵宇萍,谢拴勤,郭晓康.TMS320C28x模数转换器的精度校正.西安:西北工业大学,2005.
[43]王磊等.精通LabVIEW8.0.电子工业出版社.2007:1-13.