高精度时栅转台控制系统设计（英文）
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摘要
为了提高时栅转台控制系统的位置检测精度,提出了一种以卡尔曼滤波和PI控制融合的控制方法,并在此基础上设计了高精度伺服控制系统。该方法利用卡尔曼滤波预测实现PI控制器的参数预测自适应整定,控制系统以则采用以电流环作为内环、位置环为外环的双闭环控制结构和时栅传感器为转台位移反馈部件,同时,以ARM(LPC2124)为控制核心,结合电源电路、SP3232串口通信等硬件电路实现卡尔曼滤波和PI控制相融合的控制方法。经实验测试,设计的时栅转台伺服系统具有运动稳定可靠性,位置检测精度在-0. 8″～1. 2″范围内,满足高精度时栅转台控制系统的精度要求。
In order to improve the detecting precision on the position of time grating turntable control system,this paper proposed a fusion control method of kalman filtering and PI controller,and design a control system. The predicted self-adaption of the PI controller is achieved using the Kalman filter prediction,the control system to realize the a fusion control method of kalman filtering and PI controller by adopting the double closed-loop control structure including current loop as inner loop and position loop as outer loop,regarding the time grating sensor as turntable displacement feedback components,using ARM( LPC2124) as the control core,and. the hardware incuding the power supply circuit,sp3232 serial communication,etc. Experimentation indicates that the time grating turntable servo system is stable and reliable and the accuracy of the position varies from-0. 8″to 1. 2″,which meets the requirements about the accuracy of the high precision time grating turntable control system.
In order to improve the detecting precision on the position of time grating turntable control system,this paper proposed a fusion control method of kalman filtering and PI controller,and design a control system. The predicted self-adaption of the PI controller is achieved using the Kalman filter prediction,the control system to realize the a fusion control method of kalman filtering and PI controller by adopting the double closed-loop control structure including current loop as inner loop and position loop as outer loop,regarding the time grating sensor as turntable displacement feedback components,using ARM( LPC2124) as the control core,and. the hardware incuding the power supply circuit,sp3232 serial communication,etc. Experimentation indicates that the time grating turntable servo system is stable and reliable and the accuracy of the position varies from-0. 8″to 1. 2″,which meets the requirements about the accuracy of the high precision time grating turntable control system.
引文
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[14]TORMEY D.Using PWM servo amplifiers in noise-sensitive applications:Digital PWM Servo are Smaller,More Efficient,Less expensive,And Easier To Use Than Their Linear Counterparts[J].Electrical Design News,2005,50(25):113-114,116,118.
[2]LIU Yaoyang.Research on core technology of numerical control turntable[J].Machinery,2014,6:71-73.
[3]XIE Tingting,YANG Zhong,ZHENG Zhizhong.Application research on turntable control system based on acceleration delay compensation[J].Electronic Measurement Technology,2015,38(2):81-86.
[4]LI Min,ZHAO Yan,YANG Hui,et al.control system design of turntable based on Multifunction data acquisition card and variable speed PID[J].Computer Measurement&Control,2015,23(5):1556-1559.
[5]GAO Jinglong,ZHANG Rui,ZHOU Haibo.Application of Fuzzy Neural Network To Turntable Servo Systems[J].Control Engineering of China,2010,17(6):785-788.
[6]XU Han,ZENG Chao,HUANG Qinghua.Drift Compensation of MEMS Gyro with Kalman Filtering Algorithm[J].Chinese Journal of Sensors and Actuators,2016,29(7):962-965.
[7]LU Ping,LIU Kai,WANG Long.Control of Turntable Servo System Based on NNSOC Method[J].Computer Measurement&Control,2016,24(7):86-89.
[8]PENG Donglin,ZHANG Xinghong,LIU Xiaokang,et al.Study on the Time Grating Displacement Sensor of the Field Type[J].Chinese Journal of Scientific Instrument,2003,24(4):321-323.
[9]MIN Chaobo,ZHANG Junju,CHANG Benkang,et al.AMethod of Controlling an Optical-electronic Turret by Fusion of PI Controller and Kalman Filter[J].Acta Armamentarii,2013,34(10):1334-1340.
[10]ZHANG Lizhong,HU Hanyuan,HONG Jin,et al.Research on Signal Fusion Technology of Angle Measurement Based on Kalman Filtering Algorithm[J].Journal of Changchun University of Science and Technology(Natural Science E-dition),2015,38(1):94-97.
[11]LIU Wei,LI Ji,WANG Yihuan.Design of High Precision Tilt Measurement System Based on Fusion Model[J].Chinese Journal of Sensors and Actuators,2016,29(10):1619-1624.
[12]WANG Ting,PENG Donglin,WU Liang,et al.High Precision Excitation Design Method for Embedded Time Grating Sensor[J].Chinese Journal of Sensors and Actuators,2015,28(12):1812-1817.
[13]ZHANG Tianheng,LI Zhiming,YANG Jiseng.Online Automatic Calibration System for Time Grating Turntable Based on Parameter Identification[J].Chinese Journal of Sensors and Actuators,2016,29(3):1-5.
[14]TORMEY D.Using PWM servo amplifiers in noise-sensitive applications:Digital PWM Servo are Smaller,More Efficient,Less expensive,And Easier To Use Than Their Linear Counterparts[J].Electrical Design News,2005,50(25):113-114,116,118.