一种新型车载桅杆式雷达伺服系统的设计
摘要
雷达伺服系统是保障雷达正常工作的关键组成部分,它在发现目标、锁定目标以及目标特征参数的测量方面有着重要作用。本文紧密结合某型号侦察车项目,因此,伺服机构的研制对该型号侦察车的列装具有一定的推动作用。文中对伺服的原理和整车的设计需求进行了理论及实验研究,目的在于设计出基于车载桅杆的全数字式雷达伺服系统,并能满足整车的研制总要求。
本文在分析了系统功能和技术指标要求的基础上,给出了雷达伺服系统的整体设计。系统采用了主协式模块设计：雷达伺服控制模块和数据采集模块。前者以Cygnal公司的C8051F040芯片为核心,该模块通过RS-422串行接口与雷达主机进行通讯,完成方位、俯仰数据以及控制指令的传输,另外,具备的CAN总线可实现整车多设备通讯；数据采集模块选用C8051F340为内核,负责方位光电编码器、俯仰电位器的数据采集及加工,实现了对转动角度及速度等信息的输出。系统通过PWM专用模块和MOS管搭建的全桥电路来实现直流电机的驱动,最终实现车载雷达天线的水平和俯仰运动,运用模糊PID算法实现了对伺服的控制,伺服系统的校正运算通过PI调节器实现,参数通过仿真来选择,简化了系统参数的设计,可满足雷达天线环扫、扇扫、定位及俯仰等动作要求。
在系统设计完成后,针对系统的某些技术性能指标设计了对应的测试方法,利用可视化编程环境Visual C++开发了基于ZLG USB-CAN卡的专用调试软件,并对系统的关键指标进行测试。实验证明,本伺服系统各功能模块工作正常,具有较好的控制性能,满足整车及某型号车载雷达的使用需求,具有重要的应用价值。
Radar servo system is the key component to ensure the radar on normal work. It plays an important role in detecting, locking and the characteristic parameter measurement of the target. The equipment, discussed in this paper, is one part of a new type of reconnaissance vehicle, therefore, the development of this servo plays a role in promoting equipment of a type of reconnaissance vehicle. This paper conducted a series of theoretical and experimental work of the radar servo system, combined with a reconnaissance vehicle Project. The goal was to design a digital radar servo system based vehicle mast, and meet the general requirements of the vehicle.
After analysis of specifications and functional requirements,system architecture for the radar servo system is introduced in detail. The system uses a main co-modular design, which can be divided into radar servo control modular and data acquisition modular. The main control modular based on the Cygnal C8051F040chip can communication with the radar host through the RS-422interface in order to transport azimuth, elevation, control commands and so on. Furthermore, the equipments in vehicle can communicate with each other through the CAN bus. The data acquisition module based on C8051F340is used for acquisiting and processing the data from azimuth encoder and tilt potentiometer. It can achieve output of rotation angle, velocity informations and so on. The system drives the DC motor through the full bridge circuit, which is composed of PWM control module and MOS pipe, and realizes the radar antenna horizontal and pitching movement finally. The system adopts fuzzy PID algorithm in control system. Servo system realizes the correction operation via the PI controller, parameters can be simplified by simulation. The design meets the requirements of sector scanning, location and pitching motion from radar antenna.
After the completion of the design, according to the technical and performance indicators, some corresponding methods for testing were designed. The key indicators can be tested by the special software which based on ZLG USB-CAN modular, developed with the visual C++6.0. Experiments show that each function of the servo system works well and the control performance is good.Overall, the design meets the using requirements of a particular model radar mounted on the vehicle's mast, and has important application value.
本文在分析了系统功能和技术指标要求的基础上,给出了雷达伺服系统的整体设计。系统采用了主协式模块设计：雷达伺服控制模块和数据采集模块。前者以Cygnal公司的C8051F040芯片为核心,该模块通过RS-422串行接口与雷达主机进行通讯,完成方位、俯仰数据以及控制指令的传输,另外,具备的CAN总线可实现整车多设备通讯；数据采集模块选用C8051F340为内核,负责方位光电编码器、俯仰电位器的数据采集及加工,实现了对转动角度及速度等信息的输出。系统通过PWM专用模块和MOS管搭建的全桥电路来实现直流电机的驱动,最终实现车载雷达天线的水平和俯仰运动,运用模糊PID算法实现了对伺服的控制,伺服系统的校正运算通过PI调节器实现,参数通过仿真来选择,简化了系统参数的设计,可满足雷达天线环扫、扇扫、定位及俯仰等动作要求。
在系统设计完成后,针对系统的某些技术性能指标设计了对应的测试方法,利用可视化编程环境Visual C++开发了基于ZLG USB-CAN卡的专用调试软件,并对系统的关键指标进行测试。实验证明,本伺服系统各功能模块工作正常,具有较好的控制性能,满足整车及某型号车载雷达的使用需求,具有重要的应用价值。
Radar servo system is the key component to ensure the radar on normal work. It plays an important role in detecting, locking and the characteristic parameter measurement of the target. The equipment, discussed in this paper, is one part of a new type of reconnaissance vehicle, therefore, the development of this servo plays a role in promoting equipment of a type of reconnaissance vehicle. This paper conducted a series of theoretical and experimental work of the radar servo system, combined with a reconnaissance vehicle Project. The goal was to design a digital radar servo system based vehicle mast, and meet the general requirements of the vehicle.
After analysis of specifications and functional requirements,system architecture for the radar servo system is introduced in detail. The system uses a main co-modular design, which can be divided into radar servo control modular and data acquisition modular. The main control modular based on the Cygnal C8051F040chip can communication with the radar host through the RS-422interface in order to transport azimuth, elevation, control commands and so on. Furthermore, the equipments in vehicle can communicate with each other through the CAN bus. The data acquisition module based on C8051F340is used for acquisiting and processing the data from azimuth encoder and tilt potentiometer. It can achieve output of rotation angle, velocity informations and so on. The system drives the DC motor through the full bridge circuit, which is composed of PWM control module and MOS pipe, and realizes the radar antenna horizontal and pitching movement finally. The system adopts fuzzy PID algorithm in control system. Servo system realizes the correction operation via the PI controller, parameters can be simplified by simulation. The design meets the requirements of sector scanning, location and pitching motion from radar antenna.
After the completion of the design, according to the technical and performance indicators, some corresponding methods for testing were designed. The key indicators can be tested by the special software which based on ZLG USB-CAN modular, developed with the visual C++6.0. Experiments show that each function of the servo system works well and the control performance is good.Overall, the design meets the using requirements of a particular model radar mounted on the vehicle's mast, and has important application value.
引文
[1]李琦.浅析信息化战争中军事情报活动[J].科技信息,2010,(36)：67-68.
[2]刘世挺.雷达伺服控制技术的新发展[J].火控雷达技术,2002,31(1)：33-35.
[3]马德祥.基于CPCI总线工控机的雷达伺服系统设计与研究[D].南京：南京理工大学研究生论文,2010,5.
[4]刘胜,彭侠夫,叶瑰的.现代伺服系统设计[M].哈尔滨：哈尔滨工程大学出版社,2001.
[5]王德纯,丁家会,程望东.精密跟踪测量雷达技术[M].北京：电子工业出版社,2006.
[6]张莉松,胡枯德,徐立新等.伺服系统原理与设计(第三版)[M].北京：北京理工人学出版社,2004.
[7]徐法东.基于DSP的气象雷达伺服系统设计[D].南京：南京理工大学硕士学位论文,2009,3.
[8]冯智贵.基于ARM+FPGA的雷达伺服控制器设计[D].南京：南京理工大学研究生论文,2008,6.
[9]Zhong L, Rahman MF, Hu YW,ect. Analysis of direct torque control in permanent magnet synchronous motor drives[J]. IEEE Trans. On PE,1997,12(3):528-535.
[10]Feng.L, Koren.Y, Borenstein.J. Cross-coupling motion controller for mobile robots[J]. Control Systems Magazine, IEEE,1993,13(6):35-43.
[11]段继岗.舰载跟踪雷达二自由度数字伺服系统的设计[D].西安：西安电子科技大学研究生论文,2010,10.
[12]来清民.手把手教你学CAN总线[M].北京：北京航空航天大学出版社,2010.
[13]杨青杰,王曙光,亢红波.CAN总线技术[M].北京：北京航空航天大学出版社,2010.
[14]李正军.现场总线及其应用技术[M].北京：机械工业出版社,2005.
[15]邬宽明.CAN现场总线原理和应用系统设计[M].北京：北京航空航天大学出版社,1996.
[16]孙占辉,张陪仁.CAN现场总线控制系统的设计与实现[J].自动化仪表,2004,24(7)：43-46.
[17]王黎明,夏立,邵英等.CAN现场总线系统的设计与应用[M].北京：电子工业出版社,2008.
[18]李先祥,肖红军.基于CAN总线的多电机分布式控制系统的研制[J].中小型电机,2004,31(3)：25-27,45.
[19]李静兰.基于CAN总线伺服系统的多电机同步控制算法的研究[D].北京：中国科学院研究生院(电工研究所),2003,3.
[20]吕应明,袁海文,邢军伟,基于CAN总线的分布式位置伺服系统设计[J].电子技术应用,2010,(3)：136-139.
[21]冯义飞,陈梅.基于CAN总线多电机协调控制系统性能研究[J].电气开关,2006,32(5)： 24-26,29.
[22]周立功单片机发展有限公司.SJA1000独立CAN控制器技术手册,中国广州.
[23]广州致远电子有限公司.CTM1050产品数据手册,中国广州,2006,06.
[24]EnginYesil,Mujde Guzelkaya,et al.Cross-Coupled Ratio Control Structure[J]. Instrumentation Science and Technology,2007.35:523-536.
[25]唐茂华.基于直流无刷电机的雷达伺服系统设计[J].雷达科学与技术,2009,7(6)：439-484.
[26]张琛.直流无刷电动机原理及应用(第二版)[M].北京：机械工业出版社,2006.
[27]MOTOROLA.MC33887,datasheet.Rev 9.0,2004,1.
[28]Infineon technologies.TLE6284G,datasheet,2006,1.
[29]郁建平.机电控制技术[M].北京：科学出版社,2006.
[30]刘利军,杨红兵.AVR单片机在雷达伺服系统中的应用研究[J].中国雷达,2008,(3)：57-59.
[31]Baum H M.Stepping motor drives based on universal digital servo ICs[J]. Elektronik Praxis,1997,32(31):56-60.
[32]Hsu, Pau-Lo, Yeh, Syh-Shiuh. Precision control and compensation of servomotors and machine tools via the disturbance observer[J]. Mechatomic/IEEE Transactions on Industrial Electronics,2010,57(1):420-429.
[33]Johnson. WC, Srinivasan. K, Kulkarni. P. Digtial Control Algorithms for Electo-mechanical Machine Tool Feed Drives[C]. Proceedings of the Twelfth North American Manufacturing Research Conferece, Houghton, Michigan,1984:447-453.
[34]刘金琨.智能控制[M].北京：电子工业出版社,2005.
[35]文双,胡育文,鲁文其,梁骄雁.永磁同步电机模糊PID参数自整定[J].微特电机,2011,(5)：17-21.
[36]于明建,李进国,周正武.模糊PID控制在直流电机控制器中的应用研究[J].内蒙古石油化工,2011,(24)：4-6.
[37]孙佃升,白连平.模糊自适应PID控制器在无刷直流电机控制系统中的应用[J].电气传动,2009,39(10)：63-66.
[38]冯冬青,谢宋.模糊智能控制[M].北京：化学工业出版社,2003.
[39]曹正才.一种新型高精度舰载雷达伺服控制系统的设计[J].雷达与对抗,2001(3)：54-62.
[40]Jiangzhao Yang, Dongjun Zhang and Zexiang Li.Position Loop-Based Cross-Coupled Control for High-Speed Machining[R]. Proceedings of the 7th World Congress on Intelligent Control and Automation, Chongqing, China,2008,6:25-27.
[41]Syh-Shiuh, Yeh,Pau-Lo Hsu. Estimation of the Contouring Error Vector for the Cross Coupled Control Design[J]. IEEE/ASME Transactions on mechatronics,2002.7(1):44-51.
[42]姜义.光电编码器的原理与应用[J].机床电器,2010,23(2)：25-28.
[43]Kubler.Sendix5873,datasheet.2010,9.
[44]高长清,林辉,张辉BiSS接口的光电编码器数据读出研究[J].计算机测量与控制,2009,17(5)：957-958,961.
[45]肖鲲,王莉娜.基于FPGA的BiSS协议光电编码器通信模块设计[J].电子测量技术,2008,31(7)：188-191.
[46]孙鑫,余安萍.VC++深入详解[M].北京：电子工业出版社,2007.
[47]宋坤,刘锐宁,李伟明.VC++开发技术大全[M].北京：人民邮电出版社,2007.
[2]刘世挺.雷达伺服控制技术的新发展[J].火控雷达技术,2002,31(1)：33-35.
[3]马德祥.基于CPCI总线工控机的雷达伺服系统设计与研究[D].南京：南京理工大学研究生论文,2010,5.
[4]刘胜,彭侠夫,叶瑰的.现代伺服系统设计[M].哈尔滨：哈尔滨工程大学出版社,2001.
[5]王德纯,丁家会,程望东.精密跟踪测量雷达技术[M].北京：电子工业出版社,2006.
[6]张莉松,胡枯德,徐立新等.伺服系统原理与设计(第三版)[M].北京：北京理工人学出版社,2004.
[7]徐法东.基于DSP的气象雷达伺服系统设计[D].南京：南京理工大学硕士学位论文,2009,3.
[8]冯智贵.基于ARM+FPGA的雷达伺服控制器设计[D].南京：南京理工大学研究生论文,2008,6.
[9]Zhong L, Rahman MF, Hu YW,ect. Analysis of direct torque control in permanent magnet synchronous motor drives[J]. IEEE Trans. On PE,1997,12(3):528-535.
[10]Feng.L, Koren.Y, Borenstein.J. Cross-coupling motion controller for mobile robots[J]. Control Systems Magazine, IEEE,1993,13(6):35-43.
[11]段继岗.舰载跟踪雷达二自由度数字伺服系统的设计[D].西安：西安电子科技大学研究生论文,2010,10.
[12]来清民.手把手教你学CAN总线[M].北京：北京航空航天大学出版社,2010.
[13]杨青杰,王曙光,亢红波.CAN总线技术[M].北京：北京航空航天大学出版社,2010.
[14]李正军.现场总线及其应用技术[M].北京：机械工业出版社,2005.
[15]邬宽明.CAN现场总线原理和应用系统设计[M].北京：北京航空航天大学出版社,1996.
[16]孙占辉,张陪仁.CAN现场总线控制系统的设计与实现[J].自动化仪表,2004,24(7)：43-46.
[17]王黎明,夏立,邵英等.CAN现场总线系统的设计与应用[M].北京：电子工业出版社,2008.
[18]李先祥,肖红军.基于CAN总线的多电机分布式控制系统的研制[J].中小型电机,2004,31(3)：25-27,45.
[19]李静兰.基于CAN总线伺服系统的多电机同步控制算法的研究[D].北京：中国科学院研究生院(电工研究所),2003,3.
[20]吕应明,袁海文,邢军伟,基于CAN总线的分布式位置伺服系统设计[J].电子技术应用,2010,(3)：136-139.
[21]冯义飞,陈梅.基于CAN总线多电机协调控制系统性能研究[J].电气开关,2006,32(5)： 24-26,29.
[22]周立功单片机发展有限公司.SJA1000独立CAN控制器技术手册,中国广州.
[23]广州致远电子有限公司.CTM1050产品数据手册,中国广州,2006,06.
[24]EnginYesil,Mujde Guzelkaya,et al.Cross-Coupled Ratio Control Structure[J]. Instrumentation Science and Technology,2007.35:523-536.
[25]唐茂华.基于直流无刷电机的雷达伺服系统设计[J].雷达科学与技术,2009,7(6)：439-484.
[26]张琛.直流无刷电动机原理及应用(第二版)[M].北京：机械工业出版社,2006.
[27]MOTOROLA.MC33887,datasheet.Rev 9.0,2004,1.
[28]Infineon technologies.TLE6284G,datasheet,2006,1.
[29]郁建平.机电控制技术[M].北京：科学出版社,2006.
[30]刘利军,杨红兵.AVR单片机在雷达伺服系统中的应用研究[J].中国雷达,2008,(3)：57-59.
[31]Baum H M.Stepping motor drives based on universal digital servo ICs[J]. Elektronik Praxis,1997,32(31):56-60.
[32]Hsu, Pau-Lo, Yeh, Syh-Shiuh. Precision control and compensation of servomotors and machine tools via the disturbance observer[J]. Mechatomic/IEEE Transactions on Industrial Electronics,2010,57(1):420-429.
[33]Johnson. WC, Srinivasan. K, Kulkarni. P. Digtial Control Algorithms for Electo-mechanical Machine Tool Feed Drives[C]. Proceedings of the Twelfth North American Manufacturing Research Conferece, Houghton, Michigan,1984:447-453.
[34]刘金琨.智能控制[M].北京：电子工业出版社,2005.
[35]文双,胡育文,鲁文其,梁骄雁.永磁同步电机模糊PID参数自整定[J].微特电机,2011,(5)：17-21.
[36]于明建,李进国,周正武.模糊PID控制在直流电机控制器中的应用研究[J].内蒙古石油化工,2011,(24)：4-6.
[37]孙佃升,白连平.模糊自适应PID控制器在无刷直流电机控制系统中的应用[J].电气传动,2009,39(10)：63-66.
[38]冯冬青,谢宋.模糊智能控制[M].北京：化学工业出版社,2003.
[39]曹正才.一种新型高精度舰载雷达伺服控制系统的设计[J].雷达与对抗,2001(3)：54-62.
[40]Jiangzhao Yang, Dongjun Zhang and Zexiang Li.Position Loop-Based Cross-Coupled Control for High-Speed Machining[R]. Proceedings of the 7th World Congress on Intelligent Control and Automation, Chongqing, China,2008,6:25-27.
[41]Syh-Shiuh, Yeh,Pau-Lo Hsu. Estimation of the Contouring Error Vector for the Cross Coupled Control Design[J]. IEEE/ASME Transactions on mechatronics,2002.7(1):44-51.
[42]姜义.光电编码器的原理与应用[J].机床电器,2010,23(2)：25-28.
[43]Kubler.Sendix5873,datasheet.2010,9.
[44]高长清,林辉,张辉BiSS接口的光电编码器数据读出研究[J].计算机测量与控制,2009,17(5)：957-958,961.
[45]肖鲲,王莉娜.基于FPGA的BiSS协议光电编码器通信模块设计[J].电子测量技术,2008,31(7)：188-191.
[46]孙鑫,余安萍.VC++深入详解[M].北京：电子工业出版社,2007.
[47]宋坤,刘锐宁,李伟明.VC++开发技术大全[M].北京：人民邮电出版社,2007.