舰载稳定平台控制系统设计与研究
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摘要
舰船的航向变化以及船的摇摆会给平台系统带来扰动,在这种情况下,舰载稳定平台能够隔离载体扰动,保证平台相对惯性坐标系稳定,使得在海上运动中平台设备准确跟踪目标。本文以两轴舰载武器稳定平台控制系统为对象展开研究。
首先本文阐述了舰载武器稳定平台系统的总体设计方案,通过对稳定平台运动学和动力学分析,确定了基于双速度环,位置环的反馈控制方式,完成了系统的设备选型。
根据系统的总体设计方案,分析了系统的数学模型,设计了基于双速度环,位置环的三环控制器,并进行了仿真验证。
针对舰载稳定平台的特点以及传统PID控制器的局限性,设计了基于神经元网络PID控制算法,并运用MATLAB软件进行了仿真,结果表明该控制算法提高了系统的动态性能,增强了对外界干扰的抑制能力,减小了稳态误差。
最后论文详细介绍稳定平台系统在工程上的具体实现。设计了稳定平台伺服控制器,驱动器等硬件电路。根据所设计的硬件电路完成了稳定平台系统的软件设计,并对稳定平台系统进行了总体测试,测试结果表明稳定平台系统能够满足性能指标要求。
The change of the direction and swaying of the ship will give rise to distance, which influences the normal operation of the platform system. In this case, Shipborne stabilized platform can isolate the disturbance of the carrier and ensure the stability of the inertial frame in the platform system, so as to make the equipment of the platform track the target accurately.
This paper conducts a research on the control system of the two-axis shipborne weapons platform. First, the general design scheme of the stabilized platform for the shipborne weapons was proposed. After the analysis of the kinematics and dynamics of the stabilized platform, a feedback control technique with two velocity loop and position loop was established, and then the proper selection of the system equipment was completed at last.
Second, based on the general design, a three-loop controller with two velocity loops and a position loop can be derived after the analysis of the mathematical models of the system, which has been demonstrated by the simulation results.
Considering the limit of the traditional PID controller and the feature of the shipborne stabilized platform, a control algorithm combined the PID and Neural Networks was proposed in this paper. The simulation results indicated that this control algorithm with special anti-disturbance ability can improve the dynamical performance of the system and reduce the steady state error.
Finally, the realization in engineering of the servo controller was introduced in detail. The hardware circuit, which consists of servo controller and drive, was designed in this paper. Based on the available hardware circuit, the software designing of the system and the test of the whole stabilized platform system were completed. The results of the test have indicated that the stable platform can meet the requirement of the performance.
首先本文阐述了舰载武器稳定平台系统的总体设计方案,通过对稳定平台运动学和动力学分析,确定了基于双速度环,位置环的反馈控制方式,完成了系统的设备选型。
根据系统的总体设计方案,分析了系统的数学模型,设计了基于双速度环,位置环的三环控制器,并进行了仿真验证。
针对舰载稳定平台的特点以及传统PID控制器的局限性,设计了基于神经元网络PID控制算法,并运用MATLAB软件进行了仿真,结果表明该控制算法提高了系统的动态性能,增强了对外界干扰的抑制能力,减小了稳态误差。
最后论文详细介绍稳定平台系统在工程上的具体实现。设计了稳定平台伺服控制器,驱动器等硬件电路。根据所设计的硬件电路完成了稳定平台系统的软件设计,并对稳定平台系统进行了总体测试,测试结果表明稳定平台系统能够满足性能指标要求。
The change of the direction and swaying of the ship will give rise to distance, which influences the normal operation of the platform system. In this case, Shipborne stabilized platform can isolate the disturbance of the carrier and ensure the stability of the inertial frame in the platform system, so as to make the equipment of the platform track the target accurately.
This paper conducts a research on the control system of the two-axis shipborne weapons platform. First, the general design scheme of the stabilized platform for the shipborne weapons was proposed. After the analysis of the kinematics and dynamics of the stabilized platform, a feedback control technique with two velocity loop and position loop was established, and then the proper selection of the system equipment was completed at last.
Second, based on the general design, a three-loop controller with two velocity loops and a position loop can be derived after the analysis of the mathematical models of the system, which has been demonstrated by the simulation results.
Considering the limit of the traditional PID controller and the feature of the shipborne stabilized platform, a control algorithm combined the PID and Neural Networks was proposed in this paper. The simulation results indicated that this control algorithm with special anti-disturbance ability can improve the dynamical performance of the system and reduce the steady state error.
Finally, the realization in engineering of the servo controller was introduced in detail. The hardware circuit, which consists of servo controller and drive, was designed in this paper. Based on the available hardware circuit, the software designing of the system and the test of the whole stabilized platform system were completed. The results of the test have indicated that the stable platform can meet the requirement of the performance.
引文
[1]刘加富.基于模糊PID控制的船载稳定平台,[硕士学位论文].大连:大连海事大学,2009.
[2]李慧忠.基于PLC的电液伺服稳定平台控制研究, [硕士学位论文].浙江:浙江大学,2006.
[3]姬伟.陀螺稳定光电跟踪平台伺服控制系统研究,[博士学位论文].南京:东南大学,2000.
[4]毕永利.多框架光电平台控制系统研究,[博士学位论文].长春:中科院长春光学精密机械与物理研究所,2003.
[5]吴树平.车载三轴稳定平台控制系统的研制,硕士学位论文].南京:南京理工大学,2007
[6]吴玉华.惯性测量转台的发展状况.中国科技信息,2005,(8):109.
[7]王苏.舰载激光武器高精度稳定平台系统研究,[硕士学位论文].哈尔滨:哈尔滨工程大学,2008.
[8]周结华.基于运动载体的平台稳定系统控制方法研究,[硕士学位论文].厦门:厦门大学,2009.
[9]梁莹.基于DSP的稳定伺服控制系统设计与实现,[硕士学位论文].西安:西安电子科技大学,2006.
[10]王芳菲.两自由度稳定平台的控制策略分析,[硕士学位论文].大连:大连海事大学,2009.
[11]舒怀林.PID神经元网络及其控制系统.北京:国防工业出版社,2006:6~9.
[12]朱善俊.神经网络在矿井通风机节能中的应用,[硕士学位论文].太原:太原理工大学,2008.
[13] Hua Shu and Huailin Shu. Simulation of PID Neural Network Control System with Virtual Instrument [J]. International conference on system simulation and scientific computing asia simulation conference 2008,Vol 1-3 2008: 1408-1411
[14] Shu Huailin &Youguo.PID netural networks for time-delay systems[J]. Computer & Chemical Engineering. Elsevier House,USA.Vol. 24(2-7).2000,7:859-862
[15]张志远.舰船姿态坐标变换及稳定补偿分析.舰船科学技术,2009,31(4):34~39
[16]翟勇波,陈晓曾,吕常波.单双速度环稳定控制回路的研究.中国西部科技,2010,09(11):5~7.
[17]胡寿松.自动控制原理.北京:科学出版社,2001:205.
[18]陈伯时.电力拖动自动控制系统——运动控制系统.北京:机械工业出版社.2006:59~87.
[19]郭红霞,杨金明,刘文刚.无刷双馈电机的PID神经网络控制.控制理论与应用,2008, 25(1):53 ~56 .
[20]南栋祥.基于人工神经网络的有机垃圾减量化处理设备节能与控制的综合研究. [硕士学位论文].上海:同济大学,2003.
[21] Leung Yee,Gao Yong,Xu Zong-ben.A genetic algorithm for the multiple destination routingproblems.IEEE Transactions on Evolutionary Computation,1998,2:150~161.
[22] K Ohnishi.A new servo method in mechatronics.Transactions of Japanese Society of Electrical Engineers,1987,107(D):83~86.
[23] T Umeno, Y Hori.Robust speed control of DC servomotors using modern two degrees-of-freedom controller design.IEEE Transactions on Industrial Electronics, 1991, 38(5):363~368.
[24]肖忠,陈怡.复杂温度系统的PID神经元网络控制研究.控制系统,2009,25(1):63~64.
[25] IR2111 Datasheet,Texas Instruments,1999.
[26] UC3637 Datasheet,Texas Instruments,1999.
[27] PIC24H DataSheet. Microchip Technology Inc.2006.
[28] MAX811 DataSheet. Maxim Integrated Products.1999.
[29] MAX232 DataSheet. Maxim Integrated Products.2000.
[30] MAX485 DataSheet. Maxim Integrated Products.1996.
[31] 6N137 DataSheet. Maxim Integrated Products.2000.
[32] 24LC64 DataSheet. Microchip Technology Inc.1998.
[33] MAX543 DataSheet. Maxim Integrated Products.2009.
[34]王正林,王胜开,陈国顺.MATLAB/Simulink与控制系统仿真.北京:电子工业出版社,2005:44~67.
[35]舒怀林.注塑机料筒多段温度PID神经网络解耦控制系统.计算技术与自动化,2004,23(4):55~57.
[36]刘金琨.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社,2004:1.
[37]高钟毓.机电控制工程.北京:清华大学出版社(第2版),2002:177~182.
[38]苏显方.基于遗传算法的三环无刷直流电机控制系统研究[J].贵州大学学报,2009,26(2):74-76
[39] Alen Varsek.Genetic Algorithms in Controller Design and Tuning.IEEE Transactions on SMC,1993,23(5):1330~1338.
[40] Goldberg D E.Real-coded genetic algorithms,virtual alphabets,and blocking.Complex Systems,1991,5:139~167.
[41] Radcliffe N J.The algebra of genetic algorithms.annals of Maths and artificial intelligence,1994,10:339~384.
[42]李士勇.模糊控制神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1996:109~123.
[43]王耀南.智能控制系统.长沙:湖南大学出版社,1996:282~291.
[44]姜长生,王从庆,魏海坤.智能控制与应用.北京:科学出版社,2007:208.
[45]孙增圻.智能控制理论与技术.北京:清华大学出版社,1992:350~353.
[46]高钟毓.机电控制工程.北京:清华大学出版社(第2版),2002:80.
[47] KHAI D.T.NGO. Alternate forms of the PWM switch models. IEEE Transactions on Aerospace and Electronic Systems. 35(4):1283~1292.
[48] Carl J.Kempf,Seiichi Kobayashi.Disturbance Obserbers and Feedforward Design for a High-speed Direct-Drive Positioning Table.IEEE Transactions on control system technology,1999,7(5):513~527.
[49] Wen-Hua Chen,Donald J Balance,Peter J.Gawthrop.A nonlinear Disturbance Obserbers for Robotic Manipulators.IEEE Transactions on industrial electronics,2000,47(4):932~938.
[50]刘波.基于模糊控制的多电机同步控制系统研究, [硕士学位论文].武汉:武汉理工大学,2009.
[51]潘峰.基于CAN总线的行列式制瓶机控制系统的研究,[硕士学位论文].武汉:武汉理工大学,2009.
[53]袁涛.H桥功率驱动电路的设计研究,[硕士学位论文].成都:电子科技大学.2006.
[54]白雪梅.全景航空相机动态分辨率检测系统关键技术研究,[硕士学位论文].长春:长春理工大学,2009.
[55]刘国勇.低功耗数模转换器MAX530及其应用.国外电子元器件,1997,(8):31~34.
[56]铁维泽.二维精密转台动力学特性仿真分析, [硕士学位论文].长春:长春理工大学,2009.
[2]李慧忠.基于PLC的电液伺服稳定平台控制研究, [硕士学位论文].浙江:浙江大学,2006.
[3]姬伟.陀螺稳定光电跟踪平台伺服控制系统研究,[博士学位论文].南京:东南大学,2000.
[4]毕永利.多框架光电平台控制系统研究,[博士学位论文].长春:中科院长春光学精密机械与物理研究所,2003.
[5]吴树平.车载三轴稳定平台控制系统的研制,硕士学位论文].南京:南京理工大学,2007
[6]吴玉华.惯性测量转台的发展状况.中国科技信息,2005,(8):109.
[7]王苏.舰载激光武器高精度稳定平台系统研究,[硕士学位论文].哈尔滨:哈尔滨工程大学,2008.
[8]周结华.基于运动载体的平台稳定系统控制方法研究,[硕士学位论文].厦门:厦门大学,2009.
[9]梁莹.基于DSP的稳定伺服控制系统设计与实现,[硕士学位论文].西安:西安电子科技大学,2006.
[10]王芳菲.两自由度稳定平台的控制策略分析,[硕士学位论文].大连:大连海事大学,2009.
[11]舒怀林.PID神经元网络及其控制系统.北京:国防工业出版社,2006:6~9.
[12]朱善俊.神经网络在矿井通风机节能中的应用,[硕士学位论文].太原:太原理工大学,2008.
[13] Hua Shu and Huailin Shu. Simulation of PID Neural Network Control System with Virtual Instrument [J]. International conference on system simulation and scientific computing asia simulation conference 2008,Vol 1-3 2008: 1408-1411
[14] Shu Huailin &Youguo.PID netural networks for time-delay systems[J]. Computer & Chemical Engineering. Elsevier House,USA.Vol. 24(2-7).2000,7:859-862
[15]张志远.舰船姿态坐标变换及稳定补偿分析.舰船科学技术,2009,31(4):34~39
[16]翟勇波,陈晓曾,吕常波.单双速度环稳定控制回路的研究.中国西部科技,2010,09(11):5~7.
[17]胡寿松.自动控制原理.北京:科学出版社,2001:205.
[18]陈伯时.电力拖动自动控制系统——运动控制系统.北京:机械工业出版社.2006:59~87.
[19]郭红霞,杨金明,刘文刚.无刷双馈电机的PID神经网络控制.控制理论与应用,2008, 25(1):53 ~56 .
[20]南栋祥.基于人工神经网络的有机垃圾减量化处理设备节能与控制的综合研究. [硕士学位论文].上海:同济大学,2003.
[21] Leung Yee,Gao Yong,Xu Zong-ben.A genetic algorithm for the multiple destination routingproblems.IEEE Transactions on Evolutionary Computation,1998,2:150~161.
[22] K Ohnishi.A new servo method in mechatronics.Transactions of Japanese Society of Electrical Engineers,1987,107(D):83~86.
[23] T Umeno, Y Hori.Robust speed control of DC servomotors using modern two degrees-of-freedom controller design.IEEE Transactions on Industrial Electronics, 1991, 38(5):363~368.
[24]肖忠,陈怡.复杂温度系统的PID神经元网络控制研究.控制系统,2009,25(1):63~64.
[25] IR2111 Datasheet,Texas Instruments,1999.
[26] UC3637 Datasheet,Texas Instruments,1999.
[27] PIC24H DataSheet. Microchip Technology Inc.2006.
[28] MAX811 DataSheet. Maxim Integrated Products.1999.
[29] MAX232 DataSheet. Maxim Integrated Products.2000.
[30] MAX485 DataSheet. Maxim Integrated Products.1996.
[31] 6N137 DataSheet. Maxim Integrated Products.2000.
[32] 24LC64 DataSheet. Microchip Technology Inc.1998.
[33] MAX543 DataSheet. Maxim Integrated Products.2009.
[34]王正林,王胜开,陈国顺.MATLAB/Simulink与控制系统仿真.北京:电子工业出版社,2005:44~67.
[35]舒怀林.注塑机料筒多段温度PID神经网络解耦控制系统.计算技术与自动化,2004,23(4):55~57.
[36]刘金琨.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社,2004:1.
[37]高钟毓.机电控制工程.北京:清华大学出版社(第2版),2002:177~182.
[38]苏显方.基于遗传算法的三环无刷直流电机控制系统研究[J].贵州大学学报,2009,26(2):74-76
[39] Alen Varsek.Genetic Algorithms in Controller Design and Tuning.IEEE Transactions on SMC,1993,23(5):1330~1338.
[40] Goldberg D E.Real-coded genetic algorithms,virtual alphabets,and blocking.Complex Systems,1991,5:139~167.
[41] Radcliffe N J.The algebra of genetic algorithms.annals of Maths and artificial intelligence,1994,10:339~384.
[42]李士勇.模糊控制神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1996:109~123.
[43]王耀南.智能控制系统.长沙:湖南大学出版社,1996:282~291.
[44]姜长生,王从庆,魏海坤.智能控制与应用.北京:科学出版社,2007:208.
[45]孙增圻.智能控制理论与技术.北京:清华大学出版社,1992:350~353.
[46]高钟毓.机电控制工程.北京:清华大学出版社(第2版),2002:80.
[47] KHAI D.T.NGO. Alternate forms of the PWM switch models. IEEE Transactions on Aerospace and Electronic Systems. 35(4):1283~1292.
[48] Carl J.Kempf,Seiichi Kobayashi.Disturbance Obserbers and Feedforward Design for a High-speed Direct-Drive Positioning Table.IEEE Transactions on control system technology,1999,7(5):513~527.
[49] Wen-Hua Chen,Donald J Balance,Peter J.Gawthrop.A nonlinear Disturbance Obserbers for Robotic Manipulators.IEEE Transactions on industrial electronics,2000,47(4):932~938.
[50]刘波.基于模糊控制的多电机同步控制系统研究, [硕士学位论文].武汉:武汉理工大学,2009.
[51]潘峰.基于CAN总线的行列式制瓶机控制系统的研究,[硕士学位论文].武汉:武汉理工大学,2009.
[53]袁涛.H桥功率驱动电路的设计研究,[硕士学位论文].成都:电子科技大学.2006.
[54]白雪梅.全景航空相机动态分辨率检测系统关键技术研究,[硕士学位论文].长春:长春理工大学,2009.
[55]刘国勇.低功耗数模转换器MAX530及其应用.国外电子元器件,1997,(8):31~34.
[56]铁维泽.二维精密转台动力学特性仿真分析, [硕士学位论文].长春:长春理工大学,2009.