小型车载稳定平台控制方法研究
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摘要
小型稳定平台有着广泛的应用前景,但低成本的小型稳定平台研究较少。论文采用两框两轴结构,进行了结构设计及关键部件选型,完成了小型稳定平台的研制。研制了电机数字控制器,并利用CAN总线及RS232组建了通信网络,实现了系统数据的实时共享。推导了电机驱动数学模型,进行了PID三环结构控制研究。建立了稳定平台姿态与电机驱动系统的空间矢量模型,通过反馈控制算法实现了2自由度电机驱动系统的解耦。针对电机驱动控制系统参数时变的特点,完成了包括：对象模板生成、约束条件建立、回路成型以及前置滤波器的QFT控制器的设计,试验结果表明有效抑制了参数变化影响。针对外部参数扰动以及内部参数变化的特点,研究了基于“模糊比例趋近率”的最优滑动模态的变结构控制算法,研究表明有效地提高了电机驱动系统的响应速度,并抑制了非线性对系统的影响。开发了实验研究平台,实验研究表明了算法的有效性。
Small-size stable platforms have a broad prospect, but small stable platform with low-cost relatively has little research. In the dissertation, a small stable platform with two two-axis frame structure has been developed. And structural design and selection of key components (such as:servo drive system, inertial measuring instrument) are described. A digital servo motor controller with CAN bus and RS232 has been developed. The system can share real-time data through CAN bus and RS232 communication network. The mathematical model of servo motor drive system is derived. The characteristics of the servo motor with current loop, velocity loop, and position loop were tested. The servo motor controlled by PID controller with three loops has been studied by the simulation and experiments. The special vector model between the stable platform attitude and two motor driver systems have been established. The feedback control algorithm is employed to decouple 2 degrees of freedom. The experiments show the decoupling algorithm validity. In order to deal with time-varying parameters of the servo motor drive system, the QFT controller design has been completed, including:plant model generation, constraint condition establishment, loop shaping and pre-filter design. The simulation results show that the QFT controller has a suppressive effect on time-varying parameters. To overcome internal parameter variability and external parameter disturbances effects on the servo motor control system, the optimal sliding mode variable structure control algorithm with fuzzy proportional approaching rate is studied. And simulation and experimental results show the rapid response ability of the motor drive system was improved, and the effects of the nonlinearity, hysteresis on the control system are restricted. An experimental research platform has been developed. The experimental study of the algorithms has been performed. And experiments show the algorithms validity.
Small-size stable platforms have a broad prospect, but small stable platform with low-cost relatively has little research. In the dissertation, a small stable platform with two two-axis frame structure has been developed. And structural design and selection of key components (such as:servo drive system, inertial measuring instrument) are described. A digital servo motor controller with CAN bus and RS232 has been developed. The system can share real-time data through CAN bus and RS232 communication network. The mathematical model of servo motor drive system is derived. The characteristics of the servo motor with current loop, velocity loop, and position loop were tested. The servo motor controlled by PID controller with three loops has been studied by the simulation and experiments. The special vector model between the stable platform attitude and two motor driver systems have been established. The feedback control algorithm is employed to decouple 2 degrees of freedom. The experiments show the decoupling algorithm validity. In order to deal with time-varying parameters of the servo motor drive system, the QFT controller design has been completed, including:plant model generation, constraint condition establishment, loop shaping and pre-filter design. The simulation results show that the QFT controller has a suppressive effect on time-varying parameters. To overcome internal parameter variability and external parameter disturbances effects on the servo motor control system, the optimal sliding mode variable structure control algorithm with fuzzy proportional approaching rate is studied. And simulation and experimental results show the rapid response ability of the motor drive system was improved, and the effects of the nonlinearity, hysteresis on the control system are restricted. An experimental research platform has been developed. The experimental study of the algorithms has been performed. And experiments show the algorithms validity.
引文
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