基于DSP的某发射装置随动控制系统设计与研究
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摘要
为了提高火箭武器射击准确度,本文以某火箭武器随动系统为研究对象,深入研究了高性能火箭炮永磁交流位置随动系统,有效地提高了火箭武器的射击精度,满足了火箭武器随动系统在外部干扰、参数变化等情况下的调转精度和跟踪精度的要求。本文的研究工作具有重要的理论意义和现实意义。
本文综合运用数字信号处理器(DSP)、永磁交流伺服控制、现代控制理论与现代电力电子等技术,设计了一套基于DSP的全数字化的永磁交流伺服系统。首先,进行了执行机构的选择。详细分析了永磁同步电动机的数学模型,研究了交流伺服系统的主要控制策略(直轴电枢电流为0)。研究了SVPWM调制原理以及运用DSP的事件管理器实现空间矢量控制。其次,针对多管火箭炮位置伺服系统具有参数和负载变化大、冲击扰动力矩大的特点,提出了滑模变结构控制策略,研究了经典PID控制及PID和滑模相结合的串级控制,通过仿真分析证明了滑模变结构控制可有效地提高系统在参数变化与干扰作用下的控制精度。组建了全数字化永磁同步电机交流伺服控制系统,设计DSP控制器,开发了相应的控制软件,并对伺服控制系统硬软件各部分的结构和功能作了详细的阐述,硬件设计涉及到电源、驱动器,电源部分包括逆变器电源主回路和辅助电源,驱动器设计以TMS320F2812和智能功率模块PM50CLA120为核心,详细介绍了电路板设计主要事项。在硬件系统的基础上,采用C和汇编语言编写了控制系统软件。调试结果表明,伺服系统满足性能要求。
最后,对随动系统进行了样机实验分析,将经典PID控制、滑模控制运用于样机实验,通过实验分析有效地证实了系统满足性能指标的要求,同时也证实了系统软硬设计的正确性及控制算法的有效性。
To cater for the development of multiple rockets, servo system of some multiple rockets is taken as the research object in this thesis, and high performance AC position servo system of multiple rockets is studied. It can effectively improve shooting precision of multiple rocket launcher, fulfilling the positioning and tracking accuracy when servo system is under model parametric variation and strong disturbance, and having important theoretical value and realistic meanings.
DSP, AC servo control technology, modern control theory and modern electronical technique are applied, and a numerical AC position servo system is designed. Firstly, the choice of 3-phase PMSM and gearbox is done. Mathematical model of PMSM is elaborately analyzed; and major control methods of servo system are discussed. SVPWM is elaborately analyzed. Then, aimed at systematic characteristics such as greatly varying parameters and load, and strong impact moment, sliding mode control is put forward, and the combination of PID and sliding mode control is studied. Simulation results indicate this controller can make the system have good performance under parametric variation and strong disturbance. Servo system is set up and DSP controller is designed, the corresponding software is developed, moreover, their structure and function are described in detail. The hardware design of position servo system is done, including power and driver. Power includes inverter and auxiliary power supply, and the design of driver is based on TMS320F2812 and Intelligent Power Module. Besides, PCB is elaborately analyzed. Based on the hardware circuit, the software is programmed with C and assembly language; Experimental results show that the servo control system designed satisfies high performance requests.
Finally, experiment analysis of servo system is carried out on the machine; using classic PID control and sliding mode control to test the machine. Experimental results confirms that system satisfies the capability request of servo system, also confirms that the usefulness of control strategy and the design of software and hardware.
本文综合运用数字信号处理器(DSP)、永磁交流伺服控制、现代控制理论与现代电力电子等技术,设计了一套基于DSP的全数字化的永磁交流伺服系统。首先,进行了执行机构的选择。详细分析了永磁同步电动机的数学模型,研究了交流伺服系统的主要控制策略(直轴电枢电流为0)。研究了SVPWM调制原理以及运用DSP的事件管理器实现空间矢量控制。其次,针对多管火箭炮位置伺服系统具有参数和负载变化大、冲击扰动力矩大的特点,提出了滑模变结构控制策略,研究了经典PID控制及PID和滑模相结合的串级控制,通过仿真分析证明了滑模变结构控制可有效地提高系统在参数变化与干扰作用下的控制精度。组建了全数字化永磁同步电机交流伺服控制系统,设计DSP控制器,开发了相应的控制软件,并对伺服控制系统硬软件各部分的结构和功能作了详细的阐述,硬件设计涉及到电源、驱动器,电源部分包括逆变器电源主回路和辅助电源,驱动器设计以TMS320F2812和智能功率模块PM50CLA120为核心,详细介绍了电路板设计主要事项。在硬件系统的基础上,采用C和汇编语言编写了控制系统软件。调试结果表明,伺服系统满足性能要求。
最后,对随动系统进行了样机实验分析,将经典PID控制、滑模控制运用于样机实验,通过实验分析有效地证实了系统满足性能指标的要求,同时也证实了系统软硬设计的正确性及控制算法的有效性。
To cater for the development of multiple rockets, servo system of some multiple rockets is taken as the research object in this thesis, and high performance AC position servo system of multiple rockets is studied. It can effectively improve shooting precision of multiple rocket launcher, fulfilling the positioning and tracking accuracy when servo system is under model parametric variation and strong disturbance, and having important theoretical value and realistic meanings.
DSP, AC servo control technology, modern control theory and modern electronical technique are applied, and a numerical AC position servo system is designed. Firstly, the choice of 3-phase PMSM and gearbox is done. Mathematical model of PMSM is elaborately analyzed; and major control methods of servo system are discussed. SVPWM is elaborately analyzed. Then, aimed at systematic characteristics such as greatly varying parameters and load, and strong impact moment, sliding mode control is put forward, and the combination of PID and sliding mode control is studied. Simulation results indicate this controller can make the system have good performance under parametric variation and strong disturbance. Servo system is set up and DSP controller is designed, the corresponding software is developed, moreover, their structure and function are described in detail. The hardware design of position servo system is done, including power and driver. Power includes inverter and auxiliary power supply, and the design of driver is based on TMS320F2812 and Intelligent Power Module. Besides, PCB is elaborately analyzed. Based on the hardware circuit, the software is programmed with C and assembly language; Experimental results show that the servo control system designed satisfies high performance requests.
Finally, experiment analysis of servo system is carried out on the machine; using classic PID control and sliding mode control to test the machine. Experimental results confirms that system satisfies the capability request of servo system, also confirms that the usefulness of control strategy and the design of software and hardware.
引文
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