用于无人化平台的伺服系统研究与设计
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摘要
随着科学技术的飞速发展,无人化平台已经应用到许多人类无法到达或不宜生存的区域。为使无人化平台在这些区域完成较为复杂的作业,迫切需要研究性能更为优越的伺服系统,使无人化平台动作更为灵活,反应更快,智能程度更高。随着计算机技术和交流电机调速技术的飞速发展,各种新的控制方法和调速手段得以应用在实际控制系统中,使得现代伺服系统有了更广阔的发展前景。
本文旨在设计并研制一套用于无人化平台的伺服系统。在分析了系统的总体结构及各项性能指标的基础上,对执行电机进行了预选型,并根据实际参数的计算验证了执行电机选型的合理性。采用高精度双通道自整角机作为位置信号的检测装置,实现了伺服系统位置的闭环控制。选择TMS320LF2407A作为核心控制芯片,完成了伺服控制卡的设计,包括DSP最小系统、轴角编码单元、D/A转换电路等的硬件研制。完成了执行机构、角度采集及编码装置、伺服控制卡之间的电气连接,建立了伺服控制系统的硬件平台
在硬件平台基础上,本文针对具体性能指标,设计了分区PID与复合控制相结合的控制算法,并通过实验进行了控制参数的整定。设计了一套新的通信协议,确保了伺服控制卡与上位机之问通信的同步性与正确性。此外,研究并实现了一套新的轴角编码检错算法,提高了系统的纠错能力。完成了系统的联调,基本达到了预期的性能指标。
With the rapid development of science and technology, unmanned platform has been applied to the various regional where humans can not reach or should not survive. To enable the unmanned platforms to complete many complex tasks in these areas, to make the unmanned platform more flexible, more responsive and more intelligent, developing advantageous servo tracking system becomes the most urgent problem. With the rapid development of computer technology and AC motor speed control technology, various of new control methods and speed regulation means can be applied to actual system. Then modern servo system has vaster prospect of development.
A kind of servo control system which uses in unmanned platform has been designed and developed in this paper. Having analyzed the systematic population structure and various function indicators, and in accordance to the calculation results of actual parameters, confirmed that the motor is a reasonable choice. Achieved the closed-loop control of the servo system using the high-precision dual-channel autosynchromotor as the location of the detector signal. Completed the design of servo control card which including the DSP minimal systems, rotary encoder module, D/A converter circuit using the TMS320LF2407A as core control chip. Finally completed the electrical connection between the implementing agency, the angle acquainting and encoding devices and the servo-control card, constructed hardware platform for the servo control system.
Based on the hardware platform, a kind of control algorithm which combinated subarea PID and compound control is designed in this paper aimed at the concrete performance indicators. And then adjusted the control parameters through experiments, ensured that the systematic function of servo control reaches established requests. Design a new set of communication protocols, to ensure the correction and the synchronization of the communication between the PC and servo control card. In addition, researched a new rotary encoder error detection algorithm, improved the error correction capacity of the system. Finally, accomplished the systematic debugging, have realized the expected performance indicators.
本文旨在设计并研制一套用于无人化平台的伺服系统。在分析了系统的总体结构及各项性能指标的基础上,对执行电机进行了预选型,并根据实际参数的计算验证了执行电机选型的合理性。采用高精度双通道自整角机作为位置信号的检测装置,实现了伺服系统位置的闭环控制。选择TMS320LF2407A作为核心控制芯片,完成了伺服控制卡的设计,包括DSP最小系统、轴角编码单元、D/A转换电路等的硬件研制。完成了执行机构、角度采集及编码装置、伺服控制卡之间的电气连接,建立了伺服控制系统的硬件平台
在硬件平台基础上,本文针对具体性能指标,设计了分区PID与复合控制相结合的控制算法,并通过实验进行了控制参数的整定。设计了一套新的通信协议,确保了伺服控制卡与上位机之问通信的同步性与正确性。此外,研究并实现了一套新的轴角编码检错算法,提高了系统的纠错能力。完成了系统的联调,基本达到了预期的性能指标。
With the rapid development of science and technology, unmanned platform has been applied to the various regional where humans can not reach or should not survive. To enable the unmanned platforms to complete many complex tasks in these areas, to make the unmanned platform more flexible, more responsive and more intelligent, developing advantageous servo tracking system becomes the most urgent problem. With the rapid development of computer technology and AC motor speed control technology, various of new control methods and speed regulation means can be applied to actual system. Then modern servo system has vaster prospect of development.
A kind of servo control system which uses in unmanned platform has been designed and developed in this paper. Having analyzed the systematic population structure and various function indicators, and in accordance to the calculation results of actual parameters, confirmed that the motor is a reasonable choice. Achieved the closed-loop control of the servo system using the high-precision dual-channel autosynchromotor as the location of the detector signal. Completed the design of servo control card which including the DSP minimal systems, rotary encoder module, D/A converter circuit using the TMS320LF2407A as core control chip. Finally completed the electrical connection between the implementing agency, the angle acquainting and encoding devices and the servo-control card, constructed hardware platform for the servo control system.
Based on the hardware platform, a kind of control algorithm which combinated subarea PID and compound control is designed in this paper aimed at the concrete performance indicators. And then adjusted the control parameters through experiments, ensured that the systematic function of servo control reaches established requests. Design a new set of communication protocols, to ensure the correction and the synchronization of the communication between the PC and servo control card. In addition, researched a new rotary encoder error detection algorithm, improved the error correction capacity of the system. Finally, accomplished the systematic debugging, have realized the expected performance indicators.
引文
[1]王振华.无人化平台现场现场控制器技术研究[D].南京理工大学,2008.
[2]徐承忠,王执铨,王海燕.数字伺服系统[M].北京:国防工业出版社,1994.
[3]舒志兵,梅志千等.交流伺服运动控制系统[M].北京:清华大学出版社,2006.
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[6]高景德,王祥珩,李发海.交流电机及其系统的分析[M].北京:清华大学出版社,1993.
[7]骆再飞,蒋静坪,许振伟.交流伺服系统及其先进控制策略综述[J].机床与液压,2002(6):7-10
[8]尹华杰,林金铭,金振荣.永磁同步电动机的弱磁扩速分析[J].微电机,1995,28(2):11-15
[9]袁丽卿,陈永校,钟德刚.数字化永磁交流伺服系统[J].微电机,2005,38(1):64-67
[10]Xu Dianguo,Wang Hong,Shi Jingzhuo.PMSM servo system with speed and torque observer[C].34th annual power electronics specialists conference,acapulco,mexico,2003:241-245
[11]Liu Qinghua,M.A.Jabar,A.M.Khambadkone.Design optimization of wide-speed permanent magnet synchronous motors.Machines and drives[C].International Conference on Power Electronics,University of Bath,UK,2002:404-408
[12]江思敏.TMS320LF240xDSP硬件开发教程[M].北京:机械工业出版社,2003.
[13]刘和平.TMS320LF240xDSP结构、原理及应用[M].北京:北京航空航天大学出版社,2003.
[14]Xu Yanliang,Xu Jiaqun,Wan Wenbin.Development of permanent magnet synchronous motor used in electric vehicle[C].5th international conference on Electrical machines and systems,Shenyang,China,2001:884-887
[15]Xu Jiaqun,Xu Yanliang,Tang Renyuan.Development of full digital control system for permanent magnet synchronous motor used in electric vehicle[C].5th International conference on electrical machines and systems,Shenyang,China,2001:554-556
[16]周峰.基于DSP的永磁同步电机伺服控制系统的实现[D].哈尔滨工业大学, 2007.
[17]王茂飞,程昱.TMS320LF2000DSP技术与应用开发[M].北京:清华大学出版社,2007.
[18]张雄伟,陈亮,徐光辉.DSP芯片的原理与开发应用(第三版)[M].北京:电子工业出版社,2003.
[19]苏彦民,李宏.交流调速系统的控制策略[M].北京:机械工业出版社,1998.
[20]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机[M].北京:机械工业出版社,1995.
[21]孙丹,贺益康.基于恒定开关频率空间矢量调制的永磁同步电机直接转矩控制[J].中国电机工程学报.2005,25(12):112-116
[22]徐振刚.基于DSP的永磁同步电机直接转矩控制系统的研究[D].哈尔滨工业大学,2007.
[23]袁宏,郭淑芳,汪海英等.交流伺服系统的现状及发展趋势[J]沈阳工业大学学报,1995,17(2):90-93
[24]李烨,严欣平.永磁同步电机伺服系统研究现状及应用前景[J].微电机,2001,34(4):30-33
[25]曾森.高速高精度高炮数字伺服系统研制[D].南京理工大学,2004.
[26]胡双武.基于DSP的某发射装置伺服系统研制[D].南京理工大学,2006.
[27]Minas A4系列AC伺服电机驱动器技术资料选编[R].
[28]自整角机/旋转变压器-数字转换器10、12ZSZ/XSZ宽频系列技术资料[R].
[29]Microprocessor-Compatible12-Bit D/A Converter AD767[R].
[30]谢显之,刘新跃,于永昌.轴角编码粗精组合纠错算法的研究与应用[J].计量与测试技术,2001(3):6-8
[31]吴虎成,张俊科.轴角编码器中的粗精组合与纠错技术实现[J].计算机工程与科学,1996,18(2):82-85
[32]周晖.轴角数字转换电路的软硬件设计[J].舰船电子对抗,2008,31(3):117-120.
[33]M.H.Moradi.New techniques for PID controller design[J].IEEE,2003(03):903-908
[34]Kiam Heong Ang,Gregory Chong.PID control system Analysis,design and technology[J].IEEE transaction on control system technology,2005,13(4):559-576
[35]Ilan Rusnak.The generalized PID controller for stochastic system[J].IEEE,2000(00):145-148
[36]Yasushi Baba,Takashi Shigemasa,Masanori Yukitomo,et al.Model-driven PID control system in single-loop controller[C].SICE annual conference,2003:187-190
[37]E.M.Jafarov,M.N.A.Parlak,Y.Istefanopulos.A new variable structure PID- controller design for robot manipulators[J].Transactions on control system technology,2005,13(1):122-130
[38]Ibrahim Kaya,Nusret Tan,Derek P.Atherton.A simple procedure for improving performance of PID controllers[C].IEEE conference on control applications,2003(03):882-885
[39]曾玉金,庞文晓,蒋静萍.复合智能控制在交流伺服系统中的应用[J].电工技术杂志,2004(1):56-58
[40]胡庆波,吕征宇.全数字伺服系统中位置前馈控制器的设计[J].电气传动,2005,35(8):24-27
[41]胡寿松.自动控制原理[M].北京:科学出版社,2001.
[42]董谦,谢建英.运动控制系统中PID调节器[J].电气自动化,2001(6):23-25
[43]Kume T,Iwakane T.High-performance vector-controlled AC motor drives:application and new technologies.IEEE Trans.On industrial application,1987,23(5):872-880
[44]Edwar,Wahsh.S,Badr,M.Feed forward FLC for PMSM drives[C].Vehicle electronics conference,2001.Proceedings of the IEEE international,2001:21-26.
[45]赵金,万淑芸.交流伺服系统的一种新型位置控制器[J].电气传动,2004(1):11-14
[46]陈传硕,田丽华.PID控制参数的整定方法[J].长春邮电学院学报,1994,12(1):9-16
[47]李皿,刘怀馨,胡宏霞等.关于PID调节在自动控制时的参数整定[J].测控技术,1994,13(6):30-32
[48]丁峰,曲明昌,林廷忻.交流位置伺服系统PID控制方法实现[J].机械与电子,2001(1):13-15
[49]朱尚明,卢荣德.在PID算法中采用数字滤波和动态补偿技术[J].自动化仪表,1999,20(2):11-13
[50]王宏.永磁交流伺服系统及其控制技术的研究[D].哈尔滨工业大学,2004.
[51]姜文刚.高速高精度数字伺服系统研制[D].南京理工大学,2002.
[52]梅志千.机电伺服系统中的补偿技术研究[D].上海交通大学,2003.
[53]杨志伟.某型大口径舰炮智能伺服系统的研制[D].南京理工大学,2003.
[54]牛洪海,赵荣祥,吴茂刚.基于模糊PI参数自整定的永磁同步电动机矢量控制系统[J].电气应用,2005,24(12):79-82
[55]陈志勇.基于DSP的永磁同步电动机伺服系统研究[D].华中科技大学,2006.
[56]刘奎.基于DSP的运动控制系统开发平台硬件环境的设计与研究[D].天津大学, 2005.
[57]薛青,花银群,程广贵,李健.基于永磁同步电机的高性能交流伺服控制系统研究[J].科学技术与工程,2009,9(01):29-33
[58]余第喜.DSP永磁同步电机数字交流伺服系统硬件设计的研究[J].阜阳师范学院学报(自然科学版),2008,25(03):53-56
[59]管晓虎,董海鹰.一种交流伺服控制系统的硬件设计研究[J].测控技术,2009,28(02):51-54
[2]徐承忠,王执铨,王海燕.数字伺服系统[M].北京:国防工业出版社,1994.
[3]舒志兵,梅志千等.交流伺服运动控制系统[M].北京:清华大学出版社,2006.
[4]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
[5]郭庆鼎,孙宜标,王丽梅.现代永磁电机交流伺服系统[M].北京:中国电力出版社,2006.
[6]高景德,王祥珩,李发海.交流电机及其系统的分析[M].北京:清华大学出版社,1993.
[7]骆再飞,蒋静坪,许振伟.交流伺服系统及其先进控制策略综述[J].机床与液压,2002(6):7-10
[8]尹华杰,林金铭,金振荣.永磁同步电动机的弱磁扩速分析[J].微电机,1995,28(2):11-15
[9]袁丽卿,陈永校,钟德刚.数字化永磁交流伺服系统[J].微电机,2005,38(1):64-67
[10]Xu Dianguo,Wang Hong,Shi Jingzhuo.PMSM servo system with speed and torque observer[C].34th annual power electronics specialists conference,acapulco,mexico,2003:241-245
[11]Liu Qinghua,M.A.Jabar,A.M.Khambadkone.Design optimization of wide-speed permanent magnet synchronous motors.Machines and drives[C].International Conference on Power Electronics,University of Bath,UK,2002:404-408
[12]江思敏.TMS320LF240xDSP硬件开发教程[M].北京:机械工业出版社,2003.
[13]刘和平.TMS320LF240xDSP结构、原理及应用[M].北京:北京航空航天大学出版社,2003.
[14]Xu Yanliang,Xu Jiaqun,Wan Wenbin.Development of permanent magnet synchronous motor used in electric vehicle[C].5th international conference on Electrical machines and systems,Shenyang,China,2001:884-887
[15]Xu Jiaqun,Xu Yanliang,Tang Renyuan.Development of full digital control system for permanent magnet synchronous motor used in electric vehicle[C].5th International conference on electrical machines and systems,Shenyang,China,2001:554-556
[16]周峰.基于DSP的永磁同步电机伺服控制系统的实现[D].哈尔滨工业大学, 2007.
[17]王茂飞,程昱.TMS320LF2000DSP技术与应用开发[M].北京:清华大学出版社,2007.
[18]张雄伟,陈亮,徐光辉.DSP芯片的原理与开发应用(第三版)[M].北京:电子工业出版社,2003.
[19]苏彦民,李宏.交流调速系统的控制策略[M].北京:机械工业出版社,1998.
[20]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机[M].北京:机械工业出版社,1995.
[21]孙丹,贺益康.基于恒定开关频率空间矢量调制的永磁同步电机直接转矩控制[J].中国电机工程学报.2005,25(12):112-116
[22]徐振刚.基于DSP的永磁同步电机直接转矩控制系统的研究[D].哈尔滨工业大学,2007.
[23]袁宏,郭淑芳,汪海英等.交流伺服系统的现状及发展趋势[J]沈阳工业大学学报,1995,17(2):90-93
[24]李烨,严欣平.永磁同步电机伺服系统研究现状及应用前景[J].微电机,2001,34(4):30-33
[25]曾森.高速高精度高炮数字伺服系统研制[D].南京理工大学,2004.
[26]胡双武.基于DSP的某发射装置伺服系统研制[D].南京理工大学,2006.
[27]Minas A4系列AC伺服电机驱动器技术资料选编[R].
[28]自整角机/旋转变压器-数字转换器10、12ZSZ/XSZ宽频系列技术资料[R].
[29]Microprocessor-Compatible12-Bit D/A Converter AD767[R].
[30]谢显之,刘新跃,于永昌.轴角编码粗精组合纠错算法的研究与应用[J].计量与测试技术,2001(3):6-8
[31]吴虎成,张俊科.轴角编码器中的粗精组合与纠错技术实现[J].计算机工程与科学,1996,18(2):82-85
[32]周晖.轴角数字转换电路的软硬件设计[J].舰船电子对抗,2008,31(3):117-120.
[33]M.H.Moradi.New techniques for PID controller design[J].IEEE,2003(03):903-908
[34]Kiam Heong Ang,Gregory Chong.PID control system Analysis,design and technology[J].IEEE transaction on control system technology,2005,13(4):559-576
[35]Ilan Rusnak.The generalized PID controller for stochastic system[J].IEEE,2000(00):145-148
[36]Yasushi Baba,Takashi Shigemasa,Masanori Yukitomo,et al.Model-driven PID control system in single-loop controller[C].SICE annual conference,2003:187-190
[37]E.M.Jafarov,M.N.A.Parlak,Y.Istefanopulos.A new variable structure PID- controller design for robot manipulators[J].Transactions on control system technology,2005,13(1):122-130
[38]Ibrahim Kaya,Nusret Tan,Derek P.Atherton.A simple procedure for improving performance of PID controllers[C].IEEE conference on control applications,2003(03):882-885
[39]曾玉金,庞文晓,蒋静萍.复合智能控制在交流伺服系统中的应用[J].电工技术杂志,2004(1):56-58
[40]胡庆波,吕征宇.全数字伺服系统中位置前馈控制器的设计[J].电气传动,2005,35(8):24-27
[41]胡寿松.自动控制原理[M].北京:科学出版社,2001.
[42]董谦,谢建英.运动控制系统中PID调节器[J].电气自动化,2001(6):23-25
[43]Kume T,Iwakane T.High-performance vector-controlled AC motor drives:application and new technologies.IEEE Trans.On industrial application,1987,23(5):872-880
[44]Edwar,Wahsh.S,Badr,M.Feed forward FLC for PMSM drives[C].Vehicle electronics conference,2001.Proceedings of the IEEE international,2001:21-26.
[45]赵金,万淑芸.交流伺服系统的一种新型位置控制器[J].电气传动,2004(1):11-14
[46]陈传硕,田丽华.PID控制参数的整定方法[J].长春邮电学院学报,1994,12(1):9-16
[47]李皿,刘怀馨,胡宏霞等.关于PID调节在自动控制时的参数整定[J].测控技术,1994,13(6):30-32
[48]丁峰,曲明昌,林廷忻.交流位置伺服系统PID控制方法实现[J].机械与电子,2001(1):13-15
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