一种电动执行器控制系统设计与应用
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摘要
针对电动执行器的速度、位置控制问题,提出了一种基于数字信号处理器TMS320F2812的电动执行器控制系统。硬件方面,基于专用控制芯片PMM8713PT设计了步进电机驱动电路;结合CAN控制器SJA1000和驱动器82C250设计了CAN总线电路;利用霍尔传感器和光电编码器实现了电机速度、位置的检测。软件方面,介绍了控制系统主程序,提出了一种基于积分分离PID算法的步进电机速度和位置控制方法。以电动执行器轨迹跟踪为例,展开应用研究。实际轨迹和给定轨迹基本吻合,实验结果验证了所述基于DSP的电动执行器控制系统的可行性和有效性。
In order to solve the velocity and position control problem of electric actuators,a kind of control system was put forward based on digital signal processor TMS320F2812. On the hardware side,the stepping motor drive circuit was designed based on the special control chip PMM8713 PT. Combining with the CAN controller SJA1000 and driver 82C250,the CAN bus circuit was designed. The motor speed and position detection were realized by using hall sensors and photoelectric encoder. On the software side,firstly,the main control program was introduced,then a speed and position control method based on integral separation PID algorithm was put forward. An application research was carried on with electric actuators trajectory tracking as example. The actual trajectory and given trajectory were roughly coinside. The experimental results show that the electric actuator control system based on DSP described in this paper has good feasibility and effectiveness.
In order to solve the velocity and position control problem of electric actuators,a kind of control system was put forward based on digital signal processor TMS320F2812. On the hardware side,the stepping motor drive circuit was designed based on the special control chip PMM8713 PT. Combining with the CAN controller SJA1000 and driver 82C250,the CAN bus circuit was designed. The motor speed and position detection were realized by using hall sensors and photoelectric encoder. On the software side,firstly,the main control program was introduced,then a speed and position control method based on integral separation PID algorithm was put forward. An application research was carried on with electric actuators trajectory tracking as example. The actual trajectory and given trajectory were roughly coinside. The experimental results show that the electric actuator control system based on DSP described in this paper has good feasibility and effectiveness.
引文
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[4]慈兆会,孔令成,方颖,等.基于TMS320F2812的智能电动执行器控制系统设计[J].测控技术,2010,29(10):55-58.
[5]聂建军,吕亚磊,李辉,等.多回转阀门智能电动执行器传动机构的开发[J].机电工程技术,2015,44(3):6-8.
[6]谢檬,张一宁,王娟.基于AVR单片机的电动执行器控制模块检测仪的设计[J].计算机测量与控制,2015,23(10):3570-3573.
[7]梁栋,卜旭辉,余发山.基于DSP的电动执行器控制系统[J].仪表技术与传感器,2008(2):61-62.
[8]施爱平,叶丽华,贾卫东.智能阀门电动执行器的CAN总线研究[J].自动化仪表,2009,30(9):62-64.
[9]张业明,蔡茂林.气动执行器与电动执行器的运行能耗分析[J].北京航空航天大学学报,2010,36(5):560-563.
[10]赵宝伊,卢刚,李声晋,等.基于无刷直流电动机的电动执行器控制系统设计[J].微特电机,2013,41(7):45-49.
[11]张冀,徐科军.矢量控制电动执行器死区补偿新方法[J].电子测量与仪器学报,2015(2):272-281.
[2]李鑫,袁爱进,刘洲.基于DSP实现的智能电动执行器的设计[J].仪表技术,2008(3):21-23.
[3]曹景龙,安百秀,牛杰.基于STC89C51的流体阀门电动执行器控制系统的设计[J].工矿自动化,2011(1):93-95.
[4]慈兆会,孔令成,方颖,等.基于TMS320F2812的智能电动执行器控制系统设计[J].测控技术,2010,29(10):55-58.
[5]聂建军,吕亚磊,李辉,等.多回转阀门智能电动执行器传动机构的开发[J].机电工程技术,2015,44(3):6-8.
[6]谢檬,张一宁,王娟.基于AVR单片机的电动执行器控制模块检测仪的设计[J].计算机测量与控制,2015,23(10):3570-3573.
[7]梁栋,卜旭辉,余发山.基于DSP的电动执行器控制系统[J].仪表技术与传感器,2008(2):61-62.
[8]施爱平,叶丽华,贾卫东.智能阀门电动执行器的CAN总线研究[J].自动化仪表,2009,30(9):62-64.
[9]张业明,蔡茂林.气动执行器与电动执行器的运行能耗分析[J].北京航空航天大学学报,2010,36(5):560-563.
[10]赵宝伊,卢刚,李声晋,等.基于无刷直流电动机的电动执行器控制系统设计[J].微特电机,2013,41(7):45-49.
[11]张冀,徐科军.矢量控制电动执行器死区补偿新方法[J].电子测量与仪器学报,2015(2):272-281.