基于ARM微处理器的电液位置伺服控制系统的研究
|
摘要
电液位置伺服系统具有控制精度高、响应速度快、输出功率大、信号处理灵活、易于实现各种参量反馈等优点,因此它已经遍及国民经济和军事工业的各个技术领域。近年来,对电液位置伺服系统的快速性、稳定性、准确性等控制性能提出了新的要求,作为电液位置伺服系统核心的控制器,起到更为关键的作用。
现阶段,嵌入式微处理器以其小型、专用、便携、高可靠的特点,已经在工业控制领域得到了广泛的应用,如工业过程、远程监控、智能仪器仪表、机器人控制、数控系统等,嵌入式微处理器嵌入实时操作系统,可以克服传统的基于单片机控制系统功能不足和基于PC的控制系统非实时性的缺点,其性能、可靠性等都能满足电液位置伺服系统控制的要求,在控制领域具有广泛的应用前景。
本文以实验室的电液位置伺服系统为研究对象,按照系统的控制要求,提出以ARM9(S3C2410)微处理器为核心的控制器对电液位置伺服系统进行控制的一种方案,设计了一种新型的基于ARM9(S3C2410)微处理器的电液位置伺服控制器。本系统控制器的开发设计中,在以ARM9(S3C2410)微处理器为核心的控制器基础上,通过外部扩展,使得系统控制器具有丰富的硬件资源,开发了A/D转换电路、D/A(PWM)转换电路、伺服放大电路、串行接口等电路,同时为了使得控制器的程序代码具有较强的可读性、可维护性、可扩展性,使用了操作系统,通过比较选择了uC/OS-Ⅱ实时内核,并成功移植到ARM9(S3C2410)微处理器中,并编写了A/D、数字滤波、D/A(PWM)等软件程序,通过编译、调试、验证,程序运行正常。在对电液位置伺服系统进行控制策略的选择中,分别采用PID、滑模变结构、模糊自学习滑模三种控制策略进行仿真比较,得出采用模糊自学习滑模控制策略更有利于系统控制。
Electro-hydraulic position servo system has a lot of trait,such as high control accuracy,quick response speed,big output power,flexible signal process and easy realization feedback of various quantity etc,Therefore it has already spread over each technique realm of national economy and military industry.In recent years,some new requests in the Electro-hydraulic position servo system control aspect are brought forward,such as speediness,stability,accuracy.In order to realize those points,the controller is regarded as the core of Electro-hydraulic position servo system,control function is more key.
Currently,Embedded Microprocessors with miniaturization,special use,convenient hold and high dependable characteristics have already gotten extensive application in the industry controlled realm,such as industrial process,long distance supervision,intelligence instrument,robot control and numerical control system etc.Real time operate system is embedded in the Embedded Microprocessors,it can overcome function shortage based on MCU control system and the weakness of non-real time based on PC control system. Its capability,dependability can satisfy control request of Electro-hydraulic position servo system,It will have extensive applied foreground in the control realm.
Electro-hydraulic position servo system in the laboratory is regarded as research object,according to control request of system,a control scheme is brought forward in the thesis.that is to say,Electro-hydraulic position servo system is controlled by the core of Embedded system and a new Electro-hydraulic position servo system controller core is designed based on ARM9 microprocessors.In the development design of system controller,on the basis of ARM9(S3C2410)microprocessor,system controller has abundant hardware resources through exterior expandability,such as ADC circuit,DAC (PWM)circuit,servo enlarged circuit,serial interface circuit,at the same time,operate system is chosen in order to make procedure code stronger readability,maintenance and expandability,uC/OS-Ⅱis chosen through comparison and is transplanted ARM9(S3C2410)microprocessor successfully, then A/D collection In fixed time,the numeral filter wave,D/A(PWM)program etc are written,those procedure Pass edit,debugging,verification and run normally.In the choice process of control means,PID,sliding mode and fuzzy self-learning sliding mode are compared through the analysis result of three kinds of control means,fuzzy self-learning sliding mode is displayed to advantage in control system.
现阶段,嵌入式微处理器以其小型、专用、便携、高可靠的特点,已经在工业控制领域得到了广泛的应用,如工业过程、远程监控、智能仪器仪表、机器人控制、数控系统等,嵌入式微处理器嵌入实时操作系统,可以克服传统的基于单片机控制系统功能不足和基于PC的控制系统非实时性的缺点,其性能、可靠性等都能满足电液位置伺服系统控制的要求,在控制领域具有广泛的应用前景。
本文以实验室的电液位置伺服系统为研究对象,按照系统的控制要求,提出以ARM9(S3C2410)微处理器为核心的控制器对电液位置伺服系统进行控制的一种方案,设计了一种新型的基于ARM9(S3C2410)微处理器的电液位置伺服控制器。本系统控制器的开发设计中,在以ARM9(S3C2410)微处理器为核心的控制器基础上,通过外部扩展,使得系统控制器具有丰富的硬件资源,开发了A/D转换电路、D/A(PWM)转换电路、伺服放大电路、串行接口等电路,同时为了使得控制器的程序代码具有较强的可读性、可维护性、可扩展性,使用了操作系统,通过比较选择了uC/OS-Ⅱ实时内核,并成功移植到ARM9(S3C2410)微处理器中,并编写了A/D、数字滤波、D/A(PWM)等软件程序,通过编译、调试、验证,程序运行正常。在对电液位置伺服系统进行控制策略的选择中,分别采用PID、滑模变结构、模糊自学习滑模三种控制策略进行仿真比较,得出采用模糊自学习滑模控制策略更有利于系统控制。
Electro-hydraulic position servo system has a lot of trait,such as high control accuracy,quick response speed,big output power,flexible signal process and easy realization feedback of various quantity etc,Therefore it has already spread over each technique realm of national economy and military industry.In recent years,some new requests in the Electro-hydraulic position servo system control aspect are brought forward,such as speediness,stability,accuracy.In order to realize those points,the controller is regarded as the core of Electro-hydraulic position servo system,control function is more key.
Currently,Embedded Microprocessors with miniaturization,special use,convenient hold and high dependable characteristics have already gotten extensive application in the industry controlled realm,such as industrial process,long distance supervision,intelligence instrument,robot control and numerical control system etc.Real time operate system is embedded in the Embedded Microprocessors,it can overcome function shortage based on MCU control system and the weakness of non-real time based on PC control system. Its capability,dependability can satisfy control request of Electro-hydraulic position servo system,It will have extensive applied foreground in the control realm.
Electro-hydraulic position servo system in the laboratory is regarded as research object,according to control request of system,a control scheme is brought forward in the thesis.that is to say,Electro-hydraulic position servo system is controlled by the core of Embedded system and a new Electro-hydraulic position servo system controller core is designed based on ARM9 microprocessors.In the development design of system controller,on the basis of ARM9(S3C2410)microprocessor,system controller has abundant hardware resources through exterior expandability,such as ADC circuit,DAC (PWM)circuit,servo enlarged circuit,serial interface circuit,at the same time,operate system is chosen in order to make procedure code stronger readability,maintenance and expandability,uC/OS-Ⅱis chosen through comparison and is transplanted ARM9(S3C2410)microprocessor successfully, then A/D collection In fixed time,the numeral filter wave,D/A(PWM)program etc are written,those procedure Pass edit,debugging,verification and run normally.In the choice process of control means,PID,sliding mode and fuzzy self-learning sliding mode are compared through the analysis result of three kinds of control means,fuzzy self-learning sliding mode is displayed to advantage in control system.
引文
[1]王春行,液压控制系统,甘肃工业大学出版社,1999
[2]周立功,ARM微控制器基础与实战,北京,北京航空航天大学出版社,2005,
[3]刘长年,液压伺服系统的分析与设计,北京,科学出版社,1985
[4]陈刚朱石沙王启新,电液控制技术的发展与应用,机床与液压,2006,(4):1-3
[5]H.X.Li Z.H.Miao and J.Y.Wang.,Variable universe stable adaptive fuzzy control of nonlinear system,.Science in China,Ser.E,2002,45:225-240
[6]佟绍成 柴天佑,一种非线性系统的模糊自适应控制,信息与控制,1997,26(2):87-91.
[7]Sun F.C.,Sun Z.Q.An Adaptive Fuzzy Controller Based on Sliding Mode for Robot Manipulators,IEEE Trans.Systems,Man and Cybernetics,Part B:Cybernetics,1999,29(4):661-667
[8]尹红卫,ARM核微处理器在嵌入式智能运动控制器中的应用研究,[学位论文],南京理工大学,2005.6
[9]李斌,贺富强,基于ARM微处理器的设备状态监测方案,机械与电子,2006 3;51-53
[10]郭剑锋,基于ARM微处理器的以太网工业智能控制器,制造业自动化,2004.3:75-78
[11]赵铁峰王凯王为民等,基于ARM微处理器的智能控制器,化工自动化及仪表,2005,32(1):77-78
[12]Terrence Fong,Charles Thorpe and Charles Baur.Multi-robot remote driving with collaborative control.IEEE Intematianal Workshop on Robot-Human Interactive Communication,September 2001,Bordeaux and Paris,France
[13]张华宇,基于ARM微处理器的嵌入式数控系统的研究,[学位论文],山东科技大学,2004.5
[14]吴爱国嵌入式应用面临的挑战与ARM嵌入式微处理器发展现状,组合机床与自动化加工技术2004(9)10-12
[15]王田苗,嵌入式系统设计与实例开发,北京:清华大学出版社,2003.
[16]吴新胜 傅立叶电子科技ARM技术研讨开发流程西安傅立叶电子科技发展有限 公司,2003
[17]FWD-L系列位移传感器使用手册
[18]陈杰黄鸿,传感器与检测技术,高等教育出版社,2002;
[19]王春行,液压伺服控制系统,机械工业出版社,1982.
[20]孟泽,ARM及其嵌入式微处理器设计技术,世界电子元器件2002.8,53-54
[21]杜春雷,ARM体系结构与编程,清华大学出版社,2003
[22]赵星寒,从51到ARM—32位嵌入式系统入门,北京航空航天大学出版社2006
[23]ARM Company,ARM Architecture Reference Manual.ARM Company,2000.6
[24]ARM Limited.ARM7TDMI(Rev4)Technical Reference Manual.ARM DDI 0068A,2000
[25]周航慈,基于嵌入式实时操作系统的程序设计技术,北京航空航天大学出版社2006
[26]潘巨龙,ARM9嵌入式Linux系统构建与应用,北京航空航天大学出版社2006
[27]Samsung Electronics $3C2410X 32-Bit RISC Microprocessor USER'S MANUAL Revision 1.2,2003
[28]杨峰,张根宝,田泽,基于JTAG的ARM芯片系统调试,微计算机信息,2005.3287-89
[29]Tatas,M.Dasygenis,N.Kroupis,.Data memory power optimization and performance exploration of embedded systems for implementing motion estimation algorithms Real-Time Imaging,Volume 9,Issue 6,December 2003,Pages 371-386K.
[30]吴根茂 丘敏芳等,新编实用电液比例技术,浙江大学出版社,2006.
[31]Analog Devices Company,AD7705 Technical Reference Manual.2005
[32]Jean J.L Labrosse.嵌入式实时操作系统uC/OS-Ⅱ邵贝贝等译,北京航空航天大学出版社,2004
[33]詹荣开,嵌入式BootLoader技术内幕,单片机与嵌入式系统应用,2003 12
[34]白跃彬,北航2006年详细的授课PPT教案,北京航空航天大学出版社,2006
[35]马忠梅等,单片机的C语言应用程序设计,北京航空航天大学出版社,2003
[36](加)泽雷尔Kirk Zurell.著,艾克武等译,嵌少式系统的C程序设计,机械工业出版社,2001
[37]武自芳虞鹤松,微机控制系统及其应用,西安交通大学出版社,2003
[38]青静,嵌入式系统设计与开发实例详解一基于ARM的应用,北京航空航天大学出版社,2005
[39]Mourad Debbabi,Abdelouahed Gherbi.A selective dynamic compiler for mbedded Java virtual machines targeting ARM processors Science of Computer programming,Volume59,Issues 1-2,January006,Pages38-63
[40]ARM Limited.ARM Developer Suite Version 1.2 CodeWarrior IDE Guide.ARM DUI 0065D,2001
[41]ARM Limited.ARM Developer Suite Version 1.2 Debug Target Guide.ARM DUI 0058D.2001
[42]何克忠 李伟,计算机控制系统,清华大学出版社,2006
[43]实验台中伺服阀主要参数数据
[44]何存兴,液压元件,机械工业出版社,1982
[45]D.W.Park,S.B.Choi.Moving Sliding for High-order Variable Structure Systems,Int.J.Control,1999,72(11):960-970.
[46]杨盐生,不确定系统的鲁棒控制及其应用,科学出版社,2004
[47]张昌凡,王耀南,滑模变结构的智能控制及其应用,中国电机工程学报,2001,21(3):27-29.
[48]K.A.Raksoglu,M.K.Sundreeshan.A recurrent neural network-based adaptive variable structure model following control of robotic manipulators,Automatica,1995,31:1495-1507
[49]董彩云,基于滑模变结构控制的电液伺服系统及实验研究,[学位论文],燕山大学,2007.4
[50]姜长生王从祝,智能控制与应用,科学出版社,2007.1
[2]周立功,ARM微控制器基础与实战,北京,北京航空航天大学出版社,2005,
[3]刘长年,液压伺服系统的分析与设计,北京,科学出版社,1985
[4]陈刚朱石沙王启新,电液控制技术的发展与应用,机床与液压,2006,(4):1-3
[5]H.X.Li Z.H.Miao and J.Y.Wang.,Variable universe stable adaptive fuzzy control of nonlinear system,.Science in China,Ser.E,2002,45:225-240
[6]佟绍成 柴天佑,一种非线性系统的模糊自适应控制,信息与控制,1997,26(2):87-91.
[7]Sun F.C.,Sun Z.Q.An Adaptive Fuzzy Controller Based on Sliding Mode for Robot Manipulators,IEEE Trans.Systems,Man and Cybernetics,Part B:Cybernetics,1999,29(4):661-667
[8]尹红卫,ARM核微处理器在嵌入式智能运动控制器中的应用研究,[学位论文],南京理工大学,2005.6
[9]李斌,贺富强,基于ARM微处理器的设备状态监测方案,机械与电子,2006 3;51-53
[10]郭剑锋,基于ARM微处理器的以太网工业智能控制器,制造业自动化,2004.3:75-78
[11]赵铁峰王凯王为民等,基于ARM微处理器的智能控制器,化工自动化及仪表,2005,32(1):77-78
[12]Terrence Fong,Charles Thorpe and Charles Baur.Multi-robot remote driving with collaborative control.IEEE Intematianal Workshop on Robot-Human Interactive Communication,September 2001,Bordeaux and Paris,France
[13]张华宇,基于ARM微处理器的嵌入式数控系统的研究,[学位论文],山东科技大学,2004.5
[14]吴爱国嵌入式应用面临的挑战与ARM嵌入式微处理器发展现状,组合机床与自动化加工技术2004(9)10-12
[15]王田苗,嵌入式系统设计与实例开发,北京:清华大学出版社,2003.
[16]吴新胜 傅立叶电子科技ARM技术研讨开发流程西安傅立叶电子科技发展有限 公司,2003
[17]FWD-L系列位移传感器使用手册
[18]陈杰黄鸿,传感器与检测技术,高等教育出版社,2002;
[19]王春行,液压伺服控制系统,机械工业出版社,1982.
[20]孟泽,ARM及其嵌入式微处理器设计技术,世界电子元器件2002.8,53-54
[21]杜春雷,ARM体系结构与编程,清华大学出版社,2003
[22]赵星寒,从51到ARM—32位嵌入式系统入门,北京航空航天大学出版社2006
[23]ARM Company,ARM Architecture Reference Manual.ARM Company,2000.6
[24]ARM Limited.ARM7TDMI(Rev4)Technical Reference Manual.ARM DDI 0068A,2000
[25]周航慈,基于嵌入式实时操作系统的程序设计技术,北京航空航天大学出版社2006
[26]潘巨龙,ARM9嵌入式Linux系统构建与应用,北京航空航天大学出版社2006
[27]Samsung Electronics $3C2410X 32-Bit RISC Microprocessor USER'S MANUAL Revision 1.2,2003
[28]杨峰,张根宝,田泽,基于JTAG的ARM芯片系统调试,微计算机信息,2005.3287-89
[29]Tatas,M.Dasygenis,N.Kroupis,.Data memory power optimization and performance exploration of embedded systems for implementing motion estimation algorithms Real-Time Imaging,Volume 9,Issue 6,December 2003,Pages 371-386K.
[30]吴根茂 丘敏芳等,新编实用电液比例技术,浙江大学出版社,2006.
[31]Analog Devices Company,AD7705 Technical Reference Manual.2005
[32]Jean J.L Labrosse.嵌入式实时操作系统uC/OS-Ⅱ邵贝贝等译,北京航空航天大学出版社,2004
[33]詹荣开,嵌入式BootLoader技术内幕,单片机与嵌入式系统应用,2003 12
[34]白跃彬,北航2006年详细的授课PPT教案,北京航空航天大学出版社,2006
[35]马忠梅等,单片机的C语言应用程序设计,北京航空航天大学出版社,2003
[36](加)泽雷尔Kirk Zurell.著,艾克武等译,嵌少式系统的C程序设计,机械工业出版社,2001
[37]武自芳虞鹤松,微机控制系统及其应用,西安交通大学出版社,2003
[38]青静,嵌入式系统设计与开发实例详解一基于ARM的应用,北京航空航天大学出版社,2005
[39]Mourad Debbabi,Abdelouahed Gherbi.A selective dynamic compiler for mbedded Java virtual machines targeting ARM processors Science of Computer programming,Volume59,Issues 1-2,January006,Pages38-63
[40]ARM Limited.ARM Developer Suite Version 1.2 CodeWarrior IDE Guide.ARM DUI 0065D,2001
[41]ARM Limited.ARM Developer Suite Version 1.2 Debug Target Guide.ARM DUI 0058D.2001
[42]何克忠 李伟,计算机控制系统,清华大学出版社,2006
[43]实验台中伺服阀主要参数数据
[44]何存兴,液压元件,机械工业出版社,1982
[45]D.W.Park,S.B.Choi.Moving Sliding for High-order Variable Structure Systems,Int.J.Control,1999,72(11):960-970.
[46]杨盐生,不确定系统的鲁棒控制及其应用,科学出版社,2004
[47]张昌凡,王耀南,滑模变结构的智能控制及其应用,中国电机工程学报,2001,21(3):27-29.
[48]K.A.Raksoglu,M.K.Sundreeshan.A recurrent neural network-based adaptive variable structure model following control of robotic manipulators,Automatica,1995,31:1495-1507
[49]董彩云,基于滑模变结构控制的电液伺服系统及实验研究,[学位论文],燕山大学,2007.4
[50]姜长生王从祝,智能控制与应用,科学出版社,2007.1