基于DSP的弹上舵机控制系统的设计
摘要
弹上舵机系统是一个高精度的位置伺服系统,它是导弹控制系统的执行机构,也是导弹飞行控制系统的重要组成部分。本课题的研究目的是设计一种能对弹上舵机进行精确、快速实时控制的数字化控制系统。本文设计的舵机系统主要包括舵机控制器和由稀土力矩电机以及谐波减速器组合而成的舵机驱动机构。为了改善弹上舵机控制系统的动态和稳态性能,提高系统响应速度和控制精度,主要完成了以下工作:
首先,本文介绍了舵机控制系统的构成以及无刷直流电机(BLDCM)的工作原理,建立了无刷直流电机的数学模型。
其次,根据舵机系统的特点,将模糊控制适应性强和PID控制稳态误差小等优点结合起来提出了适合本系统的模糊自适应PID控制算法。将舵机的实时舵偏角度与给定目标角度的误差以及误差的变换量进行了合理的智能分级。用模糊控制器取代传统的舵机控制器用以改善舵机的控制性能,提高系统的动、静态响应。在构建出了基于模糊自适应PID控制的舵机位置控制系统的基础上,运用MATLAB/SIMULINK平台对其控制系统进行了模拟仿真。
最后,在研究了TMS320F2812DSP器件的软硬件结构及其控制电机的特点的基础上,设计实现以DSP为核心的四路舵机控制系统。通过通信总线将舵机的运行状态数据实时上传至上位计算机,采用Matlab设计的评测软件对舵机系统进行了离线分析。
Missile steering engine system is a high-precision servo system, which is the implementation of the missile control system, and it is also an important component part of missile flight control system. The purpose of the study of this topic is to design a missile steering with precise, rapid real-time control of the digital control system. Steering system is mainly from the steering servo controller and driver institution which is composed by thulium motor and harmonic drive.In order to improve the steering engine control system’s dynamic and steady-state performance, improve system response speed and torque control accuracy, this paper mainly completed the following work:
First, the study of the paper from the steering engine drive and the composition of the work principle, establish a BLDCM the mathematical model and simulation modeling it.
Secondly, according to the steering engine system characteristics and combining with the advantages of fuzzy control’s strong adaptability and PID control’s small steady-state error, this paper presents the system for the fuzzy PID control algorithm. The error of real-time steering engine angle between target angle and the transformation of error get a reasonable intelligent classification. Using fuzzy controller to replace the traditional steering servo controller to improve the control performance and get better of the dynamic and static response. In a building based on fuzzy PID control of the steering position control system, we use MATLAB / SIMULINK platform to conduct its control system simulation.
Finally, in the study of the TMS320F2812DSP device’s structure of hardware and software and the characteristics of motor control, on this basis we design a DSP-core quad servo control system. Communication bus will messages the operational status of real-time data upload supremacy into the computer, and using Matlab software to Off-line analysis and evaluate the steering engine system.
首先,本文介绍了舵机控制系统的构成以及无刷直流电机(BLDCM)的工作原理,建立了无刷直流电机的数学模型。
其次,根据舵机系统的特点,将模糊控制适应性强和PID控制稳态误差小等优点结合起来提出了适合本系统的模糊自适应PID控制算法。将舵机的实时舵偏角度与给定目标角度的误差以及误差的变换量进行了合理的智能分级。用模糊控制器取代传统的舵机控制器用以改善舵机的控制性能,提高系统的动、静态响应。在构建出了基于模糊自适应PID控制的舵机位置控制系统的基础上,运用MATLAB/SIMULINK平台对其控制系统进行了模拟仿真。
最后,在研究了TMS320F2812DSP器件的软硬件结构及其控制电机的特点的基础上,设计实现以DSP为核心的四路舵机控制系统。通过通信总线将舵机的运行状态数据实时上传至上位计算机,采用Matlab设计的评测软件对舵机系统进行了离线分析。
Missile steering engine system is a high-precision servo system, which is the implementation of the missile control system, and it is also an important component part of missile flight control system. The purpose of the study of this topic is to design a missile steering with precise, rapid real-time control of the digital control system. Steering system is mainly from the steering servo controller and driver institution which is composed by thulium motor and harmonic drive.In order to improve the steering engine control system’s dynamic and steady-state performance, improve system response speed and torque control accuracy, this paper mainly completed the following work:
First, the study of the paper from the steering engine drive and the composition of the work principle, establish a BLDCM the mathematical model and simulation modeling it.
Secondly, according to the steering engine system characteristics and combining with the advantages of fuzzy control’s strong adaptability and PID control’s small steady-state error, this paper presents the system for the fuzzy PID control algorithm. The error of real-time steering engine angle between target angle and the transformation of error get a reasonable intelligent classification. Using fuzzy controller to replace the traditional steering servo controller to improve the control performance and get better of the dynamic and static response. In a building based on fuzzy PID control of the steering position control system, we use MATLAB / SIMULINK platform to conduct its control system simulation.
Finally, in the study of the TMS320F2812DSP device’s structure of hardware and software and the characteristics of motor control, on this basis we design a DSP-core quad servo control system. Communication bus will messages the operational status of real-time data upload supremacy into the computer, and using Matlab software to Off-line analysis and evaluate the steering engine system.
引文
[1]林忠万,符强,李玉忍.基于DSP的导弹舵机控制系统的研究.航天控制,2004, 22 (1):46-49.
[2]李钟明,刘卫国等著.稀土永磁电机.第1版.北京:国防工业出版社,1999,7, 105-127.
[3]邓兵,潘俊民.无刷直流电机控制系统仿真.计算机仿真,2002.
[4]莫会成.方波激磁永磁无刷伺服电动机换向过程分析.微电机,1994,27(3):3-8.
[5]吴忠,刘元度.谐波传动的工程应用研究.航空精密制造技术,2005,41(4):23-25.
[6]周晖,温庆平,张伟文.谐波减速器在空间飞行器中的应用.真空与低温,2004,10(4):187-192.
[7]谭娃,金如麟.电机与拖动与控制基础.上海:上海交通大学出版社,2002.
[8]邱志成,谈大龙,韩建达.基于加速度传感器反馈控制的谐波驱动系统的研究.国机械工程,2000,11(11):1201-1206.
[9]周凤岐,陈瑜.一种新型的伺服系统——变结构谐波传动电动伺服系统.导弹与航天运载技术,2001,250:48-50.
[10]胡双,马志云,周理兵,陶桂林.永磁无刷直流电机系统建模与仿真.微电机,2003.
[11] Bose B K. Expert system, fuzzy logic, and neural network applications in power electronics and motion Control. Proceedings of the IEEE,1994:1303-1323.
[12] Schwartz D G, Klir G J, Ezawa Y .Applications of fuzzy sets and approximate reasoning. Proceedings of the IEEE,1994:482-497.
[13] Pivonka P. Comparative analysis of fuzzy PI/PD/PID controller base on classical PID controller approach. Proceedings of the 2002 IEEE International Conference on Fuzzy systems,2002:541-546.
[14] George K I. Analysis of direct action fuzzy PID controller structures. IEEE Transactions on Systems,1999,29 (3):371-387.
[15]李楠,孟庆春,付晓峰.基于参数自整定模糊PID控制策略的电机模型仿真研究.机电工程技术,2004,33(9):55-57.
[16]诸静等著.模糊控制原理与应用.第一版.北京:机械工业出版社,2001:194-206.
[17]高钟毓.机电控制工程.北京:清华大学出版社,2002.
[18]韩瑞珍,陈国定,杨马英.基于模糊推理的自整定PID控制器.基础自动化,2002,9(1):38-40.
[19]苏奎峰,吕强,耿庆锋等.TMS320F2812原理与开发.第一版.北京:电子工业出版社,2005,4:11-13.
[20]邹彦,唐冬,宁志刚等.DSP原理及应用.第一版.北京:电子工业出版社,2005: 187-190.
[21]张家田,严正国,刘峰编著.DSP综合应用技术.第一版.北京:机械工业出版社,2007:201-207.
[22]邓兵,潘俊民.无刷直流电机控制系统计算机仿真.计算机仿真,2002,9:103-106.
[23]葛新,韩光鲜.无刷直流电动机的实用仿真模型.微电机,2004,37(2):3-8.
[24] Lee S.M.,Lee B.H..A discrete-time sliding mode controller and observer with computation time delay. Control Engineering Practice,1999,7(9): 943-958.
[25]王丁磊,冯冬青.基于模糊控制的PID参数的整定.安阳工学院学报,2006,2, 19(1):15-18.
[26]孟宇,彭晓华,张浩.模糊自适应整定PID控制及其仿真研究.机械工程与自动化,2006,6(139):92-96.
[27]李剑,谷俊杰.PID参数整定进展.电力情报,2001,3:11-13 .
[28]乔显华,李文.基于MATLAB7.1的简单直接转矩控制系统仿真.大连交通大学,2005.
[29]刘春娟,顾生杰.非对称模糊PID控制在二质量伺服系统中的应用.自动化与仪器仪表,2005,3(119): 48-50.
[30]孙洪义,夏美丽.一种新型模糊控制器的设计.自动与仪表,2000,15(1):26-28.
[31]曹会发,陶国良,周洪.气动执行器伺服定位模糊PID控制.机床与液压,2006, 9:137-142.
[32]曹月东,高东杰,胡包钢.一类模糊PID控制器的鲁棒优化设计.控制与决策,2002,1(70):73-76.
[33]赵国山,仇性启.自适应PID的发展概况.化工自动化及仪表,2006,33(5):1-5.
[34]刘金琨.先进PID控制及其MATLAB仿真.第一版.北京:电子工业出版社,2003,1:1-2.
[35]欧阳黎明.MATLAB控制系统设计.北京:国防工业出版社,2001.
[36]王沫然. Simulink4建模及动态仿真.电子工业出版社,2002.
[37] Wen-June Wang, Koan-Yuh Chang. Variable structure based covariance for assingnment stochastic multivariable model reference systems.Automatic,2000, 36(2):141-146.
[38] Texas Instruments Incorporated著,张卫宁编译.TMS320C28x系列DSP的CPU与外设(上).第一版.北京:清华大学出版社,2004:1-15.
[39]阳宪惠,魏庆福等审.现场总线技术及其应用.第一版.北京:清华大学出版社,1999:309-318.
[40] Texas Instruments Incorporated著,张卫宁编译.TMS320C28x系列DSP的CPU与外设(下).第一版.北京:清华大学出版社,2004:562-613.
[41]孙雷,张春喜,张庆等.基于DSP的无刷直流电动机模糊PID控制系统.南昌工程学院学报,2005,24(3):33-36.
[42]刘涛,吕迅竑,黄一敏.基于DSP的数字舵机控制器设计.沈阳航空工业学院学报,2006,23(1):8-11.
[43] Lonnie C.Ludeman著,邱天爽,李婷,毕英伟等译.随机过程——滤波、估计与检测.第一版.北京:电子工业出版社,2005:243-245.
[44] Paulo S.R.Diniz著,刘郁林,景晓军,谭刚兵等译.自适应滤波算法与实现.第一版.北京:电子工业出版社,2004:1-2.
[45]张晓光,徐钊.IIR数字滤波器的优化设计和DSP实现.电子工程师,2006,32(3):37-39.
[46]闫健,宋立新.改进的直接I型IIR数字滤波器的DSP实现.哈尔滨理工大学学报,2006,11(4):60-62.
[2]李钟明,刘卫国等著.稀土永磁电机.第1版.北京:国防工业出版社,1999,7, 105-127.
[3]邓兵,潘俊民.无刷直流电机控制系统仿真.计算机仿真,2002.
[4]莫会成.方波激磁永磁无刷伺服电动机换向过程分析.微电机,1994,27(3):3-8.
[5]吴忠,刘元度.谐波传动的工程应用研究.航空精密制造技术,2005,41(4):23-25.
[6]周晖,温庆平,张伟文.谐波减速器在空间飞行器中的应用.真空与低温,2004,10(4):187-192.
[7]谭娃,金如麟.电机与拖动与控制基础.上海:上海交通大学出版社,2002.
[8]邱志成,谈大龙,韩建达.基于加速度传感器反馈控制的谐波驱动系统的研究.国机械工程,2000,11(11):1201-1206.
[9]周凤岐,陈瑜.一种新型的伺服系统——变结构谐波传动电动伺服系统.导弹与航天运载技术,2001,250:48-50.
[10]胡双,马志云,周理兵,陶桂林.永磁无刷直流电机系统建模与仿真.微电机,2003.
[11] Bose B K. Expert system, fuzzy logic, and neural network applications in power electronics and motion Control. Proceedings of the IEEE,1994:1303-1323.
[12] Schwartz D G, Klir G J, Ezawa Y .Applications of fuzzy sets and approximate reasoning. Proceedings of the IEEE,1994:482-497.
[13] Pivonka P. Comparative analysis of fuzzy PI/PD/PID controller base on classical PID controller approach. Proceedings of the 2002 IEEE International Conference on Fuzzy systems,2002:541-546.
[14] George K I. Analysis of direct action fuzzy PID controller structures. IEEE Transactions on Systems,1999,29 (3):371-387.
[15]李楠,孟庆春,付晓峰.基于参数自整定模糊PID控制策略的电机模型仿真研究.机电工程技术,2004,33(9):55-57.
[16]诸静等著.模糊控制原理与应用.第一版.北京:机械工业出版社,2001:194-206.
[17]高钟毓.机电控制工程.北京:清华大学出版社,2002.
[18]韩瑞珍,陈国定,杨马英.基于模糊推理的自整定PID控制器.基础自动化,2002,9(1):38-40.
[19]苏奎峰,吕强,耿庆锋等.TMS320F2812原理与开发.第一版.北京:电子工业出版社,2005,4:11-13.
[20]邹彦,唐冬,宁志刚等.DSP原理及应用.第一版.北京:电子工业出版社,2005: 187-190.
[21]张家田,严正国,刘峰编著.DSP综合应用技术.第一版.北京:机械工业出版社,2007:201-207.
[22]邓兵,潘俊民.无刷直流电机控制系统计算机仿真.计算机仿真,2002,9:103-106.
[23]葛新,韩光鲜.无刷直流电动机的实用仿真模型.微电机,2004,37(2):3-8.
[24] Lee S.M.,Lee B.H..A discrete-time sliding mode controller and observer with computation time delay. Control Engineering Practice,1999,7(9): 943-958.
[25]王丁磊,冯冬青.基于模糊控制的PID参数的整定.安阳工学院学报,2006,2, 19(1):15-18.
[26]孟宇,彭晓华,张浩.模糊自适应整定PID控制及其仿真研究.机械工程与自动化,2006,6(139):92-96.
[27]李剑,谷俊杰.PID参数整定进展.电力情报,2001,3:11-13 .
[28]乔显华,李文.基于MATLAB7.1的简单直接转矩控制系统仿真.大连交通大学,2005.
[29]刘春娟,顾生杰.非对称模糊PID控制在二质量伺服系统中的应用.自动化与仪器仪表,2005,3(119): 48-50.
[30]孙洪义,夏美丽.一种新型模糊控制器的设计.自动与仪表,2000,15(1):26-28.
[31]曹会发,陶国良,周洪.气动执行器伺服定位模糊PID控制.机床与液压,2006, 9:137-142.
[32]曹月东,高东杰,胡包钢.一类模糊PID控制器的鲁棒优化设计.控制与决策,2002,1(70):73-76.
[33]赵国山,仇性启.自适应PID的发展概况.化工自动化及仪表,2006,33(5):1-5.
[34]刘金琨.先进PID控制及其MATLAB仿真.第一版.北京:电子工业出版社,2003,1:1-2.
[35]欧阳黎明.MATLAB控制系统设计.北京:国防工业出版社,2001.
[36]王沫然. Simulink4建模及动态仿真.电子工业出版社,2002.
[37] Wen-June Wang, Koan-Yuh Chang. Variable structure based covariance for assingnment stochastic multivariable model reference systems.Automatic,2000, 36(2):141-146.
[38] Texas Instruments Incorporated著,张卫宁编译.TMS320C28x系列DSP的CPU与外设(上).第一版.北京:清华大学出版社,2004:1-15.
[39]阳宪惠,魏庆福等审.现场总线技术及其应用.第一版.北京:清华大学出版社,1999:309-318.
[40] Texas Instruments Incorporated著,张卫宁编译.TMS320C28x系列DSP的CPU与外设(下).第一版.北京:清华大学出版社,2004:562-613.
[41]孙雷,张春喜,张庆等.基于DSP的无刷直流电动机模糊PID控制系统.南昌工程学院学报,2005,24(3):33-36.
[42]刘涛,吕迅竑,黄一敏.基于DSP的数字舵机控制器设计.沈阳航空工业学院学报,2006,23(1):8-11.
[43] Lonnie C.Ludeman著,邱天爽,李婷,毕英伟等译.随机过程——滤波、估计与检测.第一版.北京:电子工业出版社,2005:243-245.
[44] Paulo S.R.Diniz著,刘郁林,景晓军,谭刚兵等译.自适应滤波算法与实现.第一版.北京:电子工业出版社,2004:1-2.
[45]张晓光,徐钊.IIR数字滤波器的优化设计和DSP实现.电子工程师,2006,32(3):37-39.
[46]闫健,宋立新.改进的直接I型IIR数字滤波器的DSP实现.哈尔滨理工大学学报,2006,11(4):60-62.