基于DSP的平台稳定系统模糊自适应控制研究
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摘要
航海、航空技术的迅速发展离不开惯性导航系统，而其中的平台稳定回路是关系到导航精度的关键部分。传统的平台稳定回路采用经典PID控制规律和模拟电子系统的解决方案，但由于在控制精度、响应速度等方面经典PID控制规律存在不足，同时模拟电子系统实现起来又有体积大、成本高等缺陷，因此选用更高级的控制规律和数字控制成为了一种发展方向。在这样的背景下本文将模糊自适应PID控制方法应用到平台稳定回路中进行了研究。
文章对平台稳定回路进行了理论分析和经典校正，通过设计和仿真，验证了经典PID控制规律的可行性。然后针对系统设计了模糊自适应PID控制器，并通过仿真与常规PID控制器进行了比较。仿真结果表明：这种控制规律的应用，使得系统在响应速度、精度方面都有了很大提高，特别是抗干扰能力有显著增强。
本文对基于数字信号处理器(DSP)的平台稳定回路数字控制进行了软硬件设计。硬件设计部分重点介绍了以DSP为核心的信号处理电路；软件设计部分介绍了基于TMS320F2812芯片的系统主程序和子程序的软件设计。DSP芯片具有高效、高速、高精度等优点，文中选用的TI公司生产的TMS320F2812芯片能够提供12路PWM输出，为采用直流电机控制的稳定回路提供了极大的方便。
The inertial navigation system plays an important role in the development of navigation and aviation. The stabilized platform is one of the most important part in the inertial navigation system, which determines the system's precision. The solution of conventional platform stabilization loop is constructed by classical PID law and analogue electronic system, which is not so satisfied in precision, respond speed and disturbance rejection. And the analogue electronic system is big, castly and frequently in failure. So looking for advanced control law and digital control is now the main stream. Under this background, the paper studies the Fuzzy Adaptive PID (FAPID) control method for platform stabilization loops.
The platform stabilization loops are theoretically analyzed and compensated. The experimentation result of design and emulation argues that the conventional PID control is feasible. By designing the FAPID controller and doing the emulation, the result indicates that this methed get a big improvement in the precision, respond speed and disturbance rejection.
Direct Digital Control of platform stabilization loops based on DSP is investigated. The hardware and software are designed. In hardware design, TMS320F2812 is adopted as the base of controller. The relative circuitry is discussed. And in software design; the main process and subprograme are presented. DSP controller has the advantages in efficiency, speed and precision.TMS320F2812, a product of Texas Instruments Inc., which has 12 PWM output channels, is chosen as the core chip of the digital controller. It makes the motor control more convenient.
文章对平台稳定回路进行了理论分析和经典校正，通过设计和仿真，验证了经典PID控制规律的可行性。然后针对系统设计了模糊自适应PID控制器，并通过仿真与常规PID控制器进行了比较。仿真结果表明：这种控制规律的应用，使得系统在响应速度、精度方面都有了很大提高，特别是抗干扰能力有显著增强。
本文对基于数字信号处理器(DSP)的平台稳定回路数字控制进行了软硬件设计。硬件设计部分重点介绍了以DSP为核心的信号处理电路；软件设计部分介绍了基于TMS320F2812芯片的系统主程序和子程序的软件设计。DSP芯片具有高效、高速、高精度等优点，文中选用的TI公司生产的TMS320F2812芯片能够提供12路PWM输出，为采用直流电机控制的稳定回路提供了极大的方便。
The inertial navigation system plays an important role in the development of navigation and aviation. The stabilized platform is one of the most important part in the inertial navigation system, which determines the system's precision. The solution of conventional platform stabilization loop is constructed by classical PID law and analogue electronic system, which is not so satisfied in precision, respond speed and disturbance rejection. And the analogue electronic system is big, castly and frequently in failure. So looking for advanced control law and digital control is now the main stream. Under this background, the paper studies the Fuzzy Adaptive PID (FAPID) control method for platform stabilization loops.
The platform stabilization loops are theoretically analyzed and compensated. The experimentation result of design and emulation argues that the conventional PID control is feasible. By designing the FAPID controller and doing the emulation, the result indicates that this methed get a big improvement in the precision, respond speed and disturbance rejection.
Direct Digital Control of platform stabilization loops based on DSP is investigated. The hardware and software are designed. In hardware design, TMS320F2812 is adopted as the base of controller. The relative circuitry is discussed. And in software design; the main process and subprograme are presented. DSP controller has the advantages in efficiency, speed and precision.TMS320F2812, a product of Texas Instruments Inc., which has 12 PWM output channels, is chosen as the core chip of the digital controller. It makes the motor control more convenient.
引文
[1] 李东明．惯性平台稳定回路的双闭环控制．哈尔滨工程大学应用科技．2003
[2] 苏奎峰，吕强，耿庆峰，陈圣俭．TMS320F2812原理与开发．电子工业出版社，2005
[3] 刘金琨．先进PID控制MATLAB仿真(第二版)．电子工业出版社，2004
[4] 郭素云．陀螺仪原理及应用．哈尔滨工业大学出版社，1985
[5] 黄德鸣，张树侠，孙枫．平台罗经．国防工业出版社，1990
[6] 赵文常．自动控制元件．哈尔滨工程大学出版社，1992
[7] 李友善．自动控制原理．国防工业出版社，1989
[8] 邹鲲等．MATLAB6．x信号处理．清华大学出版社，2002
[9] 何克忠，李伟．计算机控制系统．清华大学出版社，2002
[10] 汤兵勇．模糊控制理论与应用技术．清华大学出版社，2002
[11] 楼顺天，于卫．基于MATLAB的系统分析与设计—模糊系统．西安电子科技大学出版社，1999
[12] 陶永华．新型PID控制及其应用．机械工业出版社，2002
[13] 王立新．自适应模糊系统与控制．国防工业出版社，1995
[14] 魏克新，王云亮，陈志敏．MATLAB语言与自动控制系统的设计．机械工业出版社，1997
[15] 王顺晃，舒迪前．智能控制系统及其应用．机械工业出版社，1995
[16] 刘和平，张卫宁等编译．TMS320C28x系列DSP指令系统合编程指南．2005
[17] TMS320F2812 Digital Signal Processors Data Manual. Texas Instruments Incorporated. April 2001 - Revised July 2003
[18] TMS320F28x DSP Analog-to-Digital Converter (AOC)Reference Guide. Texas Instruments Incorporated. August 2003
[19] TMS320F28x DSP Event Manager (BY) Reference Guide. Texas Instruments Incorporated. June 2003
[20] TMS320F28x DSP Serial Communication Interface (SCl) Reference GuideTexas Instruments Incorporated. Tune 2003
[21] TMS320F28x DSP Multichannel Buffered Serial Port (McBSP). Texas Instruments Incorporated. June 2003
[22] TMS320F28x DSP Boot ROM Reference Guide. Texas Instruments Incorporated Guide. June 2003
[23] 梁恩主．Prote199SE电路设计与仿真应用．清华大学出版社，2000
[24] 陈云洽，保延翔．CPLD应用技术与数字系统设计．电子工业出版社，2003
[25] 黄正瑾，徐坚，章小丽．CPLD系统设计技术入门与应用．电子工业出版社，2002
[26] 侯伯亨，顾新．VHDL硬件描述语言与数字逻辑电路设计．西安电子工业出版社，1999
[27] 谈振藩．自动控制专业英语．哈尔滨工程大学出版社，1999
[28] 谭浩强．C程序设计．清华大学出版社，2000
[2] 苏奎峰，吕强，耿庆峰，陈圣俭．TMS320F2812原理与开发．电子工业出版社，2005
[3] 刘金琨．先进PID控制MATLAB仿真(第二版)．电子工业出版社，2004
[4] 郭素云．陀螺仪原理及应用．哈尔滨工业大学出版社，1985
[5] 黄德鸣，张树侠，孙枫．平台罗经．国防工业出版社，1990
[6] 赵文常．自动控制元件．哈尔滨工程大学出版社，1992
[7] 李友善．自动控制原理．国防工业出版社，1989
[8] 邹鲲等．MATLAB6．x信号处理．清华大学出版社，2002
[9] 何克忠，李伟．计算机控制系统．清华大学出版社，2002
[10] 汤兵勇．模糊控制理论与应用技术．清华大学出版社，2002
[11] 楼顺天，于卫．基于MATLAB的系统分析与设计—模糊系统．西安电子科技大学出版社，1999
[12] 陶永华．新型PID控制及其应用．机械工业出版社，2002
[13] 王立新．自适应模糊系统与控制．国防工业出版社，1995
[14] 魏克新，王云亮，陈志敏．MATLAB语言与自动控制系统的设计．机械工业出版社，1997
[15] 王顺晃，舒迪前．智能控制系统及其应用．机械工业出版社，1995
[16] 刘和平，张卫宁等编译．TMS320C28x系列DSP指令系统合编程指南．2005
[17] TMS320F2812 Digital Signal Processors Data Manual. Texas Instruments Incorporated. April 2001 - Revised July 2003
[18] TMS320F28x DSP Analog-to-Digital Converter (AOC)Reference Guide. Texas Instruments Incorporated. August 2003
[19] TMS320F28x DSP Event Manager (BY) Reference Guide. Texas Instruments Incorporated. June 2003
[20] TMS320F28x DSP Serial Communication Interface (SCl) Reference GuideTexas Instruments Incorporated. Tune 2003
[21] TMS320F28x DSP Multichannel Buffered Serial Port (McBSP). Texas Instruments Incorporated. June 2003
[22] TMS320F28x DSP Boot ROM Reference Guide. Texas Instruments Incorporated Guide. June 2003
[23] 梁恩主．Prote199SE电路设计与仿真应用．清华大学出版社，2000
[24] 陈云洽，保延翔．CPLD应用技术与数字系统设计．电子工业出版社，2003
[25] 黄正瑾，徐坚，章小丽．CPLD系统设计技术入门与应用．电子工业出版社，2002
[26] 侯伯亨，顾新．VHDL硬件描述语言与数字逻辑电路设计．西安电子工业出版社，1999
[27] 谈振藩．自动控制专业英语．哈尔滨工程大学出版社，1999
[28] 谭浩强．C程序设计．清华大学出版社，2000