舵机位置伺服系统的ASIC控制研究
详细信息    本馆镜像全文|  推荐本文 |  |   获取CNKI官网全文
摘要
舵机系统作为高精度的位置伺服系统,主要应用于航天及军事等一些特定场合。ASIC(专用集成电路)控制相对DSP,FPGA等控制来说,在提高系统性能和可靠性的同时,可以减小系统体积,降低功耗,提高系统的集成度。论文以四轴舵机位置伺服系统为工程背景,对基于ASIC的舵机控制SoC系统进行研究。
     论文首先分析了舵机系统控制原理,从伺服电机,调制方式,位置检测等角度出发,建立了舵机系统的数学模型,基于系统模型,确立采用位置环、速度环和电流环结合的三环控制策略。并针对每一环路的不同特点,采取合适的控制算法。
     其次,具体分析研究速度环和位置环控制算法。舵机系统采取电位器作为位置传感器,速度反馈通过对位置信号不完全微分获取,速度环采取PDFF控制。位置环由于减速器、无刷直流电机等非线性因素影响,探索智能算法加PID的控制方式。并分别搭建Matlab/Simulink仿真模型,验证控制算法的性能。
     再次,从电流环角度出发,分析电流采样策略。针对电机控制系统电流环特点,研究并设计一种适宜于数字电流环的片载ADC,能方便地集成于电机控制ASIC。该ADC主要由锯齿波发生电路、采样更新模块、数字编码模块等组成。设计数字带阻滤波器消除电流环存在的一些干扰因素。给出电流环PI控制的算法实现过程。实验结果表明,本文所设计的电流环ADC能很好地满足电机控制系统电流环要求。
     最后,从系统角度出发,研究ASIC设计过程,给出ASIC的实现结果。进行系统试验,分析试验结果,结果表明基于ASIC的舵机系统具有较好的性能。
Steering system mainly applies in the aerospace, military and other special occasions as high-precision position servo system. Compared with FPGA or DSP control, the ASIC(Application Specific Integrated circuit) control not only improves system performances and reliability, but also reduces the volume of system and the power consumption. Taking the four shafts steering position servo system for engineering background, the dissertation researches on steering control system of SoC implemented by ASIC.
     Firstly, the paper analyzes the work principle of steering system, including servo motor, modulation mode and position detection method. Then the mathematical model of the steering system is established. Based on the system model, three-loop control strategy with position loop, velocity loop and current loop is adopted. According to the different characteristics of each loop, the appropriate control algorithm is chosen.
     Secondly, the control algorithms of speed loop and position loop are disucussed. Velocity loop adoptes PDFF (Pseudo Derivative Feedback +Feedforward) control. Position loop explores intelligent algorithm with PID. And the Matlab/Simulink simulation model is set up to verify control performance of the algorithms.
     Thirdly, current sample strategy is analyzed. According to the characteristics of motor control system, an ADC suitable for digital current loop is designed and can easily integrate into motor control ASIC. The ADC consists mainly of sawtooth wave generator, sampling update module, digital coding module. Digital band-stop filter and PI controller are also designed. Experimental results show that the designed current loop ADC can well satisfy the current loop’s request of motor control system.
     Finally, from the aspect of system, ASIC design process is researched. And system test is finished on the ASIC platform, the results show that the system has good performances.
引文
1方强.被动式力矩伺服控制系统设计方法与应用研究.哈尔滨工业大学博士学位论文. 2006: 2~14
    2 Kung-Yao Tseng, Ying-Yu Tzou. ASIC Implementation of a Programmable Servo Control IC with Digital Phase-Locked Loop. IEEE PESC. 2002: 1~6
    3谭建成.新编电机控制专用集成电路与应用.机械工业出版社, 2005: 1~9
    4 International Rectifier Inc. IRMCK201 High Performance Configurable Digital AC Servo Control IC Datasheet, 2004: 1~20
    5 Nigel Horspool, Peter Gorman. THE ASIC HANDNBOOK.清华大学出版社, 2002: 10~50
    6王彦.基于FPGA的工程设计与应用.西安电子科技大学出版社, 2007: 207~220
    7林平.变频控制系统集成模块及其控制芯片技术的研究.浙江大学博士学位论文. 2003: 7~9
    8 Kuang-Yao Cheng, Ying-Yu Tzou. Fuzzy Optimization Techniques Applied to the Design of a Digital BLDC Servo Drive. Power Electionics Specialists Conference. 2002,3: 1451~1456
    9田耘,徐文波,张延伟.无线通信FPGA设计.电子工业出版社, 2008: 383~387
    10胡林.高精度舵机控制器的研制.西北工业大学硕士学位论文. 2006: 1~3
    11秦文甫.基于DSP的数字化舵机系统设计与实现.清华大学工程硕士学位论文. 2004: 1~10
    12汪军林,解付强,刘玉浩.导弹电动舵机的研究现状及发展趋势.控制与制导. 2008,3: 43~45
    13 FERNANDO RODRIG. ADVANCED DIGITAL CONTROL TECHNIQUES FOR BRUSHLESS DC MOTOR DRIVES. The Illinois Institute of Technology. 2006: 50~65
    14刘刚,王志强,房建成.永磁无刷直流电机控制技术与应用.机械工业出版社, 2008: 101~133
    15张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的影响.电机与控制学报. 2003,7(2): 87~91
    16 Xi Xiao, Yongdong Li, Meng Zhang, Min Li. A Novel Control Strategy for BLDCM Drive With Low Torque Ripples. IECON. 2005:1660~1664
    17韦鲲.永磁无刷直流电机电磁转矩脉动抑制技术的研究.浙江大学博士学位论文. 2005: 25~48
    18 C.S. Soh, C. Bi, K.K. Teo'. FPGA Implementation of Quasi-BLDC Drive. Power Electronics and Drive Systems. 2007: 883~888
    19骆光照.电动舵机的鲁棒控制研究.西北工业大学博士学位论文. 2003: 15~18
    20 Gu Jie, Zhang Yu Wu, Zhigan. Rotor Position and Velocity Estimation for PMSM Based on Sliding Mode Observer. International Power Electronics and Motion Control Conference. 2004,(3):1351~1355
    21 Zhaoyong Zhou, Tiecai Li, Toshio Takahashi. FPGA Realization of a High- Performance Servo Controller for PMSM. APEC’04, Anaheim, USA, 2004: 1604~1609
    22 Andrea Tilli, Marcello Montanari. A Low-noise Estimator of Angular Speed and Acceleration from Shaft Wncoder Measurement. ATKAAF. 2001,42: 169~176
    23符强,高精度导弹舵机控制器的研究.西北工业大学硕士论文. 2004: 53~55
    24李宁刚,代作晓. PDFF调节在交流永磁同步电机控制中的应用.科学技术与工程. 2006,6(13): 1~4
    25夏长亮,刘丹,王迎发,张茂华.基于模糊规则的无刷直流电机免疫PID控制.电工技术学报. 2007,22(9): 1~6
    26夏长亮,郭培健,史婷娜,王明超.基于模糊遗传算法的无刷直流电机自适应控制.中国电机工程学报. 2005,25(11): 1~5
    27 Toshio Takahashi,Jay Goetz. Implementation of Complete AC Servo Control in a Low Cost FPGA and Subsequent ASSP Conversion. APEC’04, Anaheim, USA,2004 :565~570
    28 Kuang-Yao Cheng, Ying-Yu Tzou. Fuzzy Optimization Techniques Applied to the Design of a Digital BLDC Servo Drive. Power Electionics Specialists Conference. 2002,3: 1451~1456
    29夏长亮,俞卫,李志强.永磁无刷直流电机转矩波动的自抗扰控制.中国电机工程学报. 2006,26(24): 1~6
    30刘金琨.先进PID控制MATLAB仿真.电子工业出版社, 2004:102~129
    31 Juan W. Dixon, Iván A. Leal. Current Control Strategy for Brushless DC Motors Based on a Common DC Signal. IEEE Trans. on Power Electronics. 2002,17(2):232~239
    32 Kyoya Kawamura, Takashji Matsubara, Yoshiaki Koga. Technologies for Designing Dependable A/D Converters. IEEE Proceedings of FTCS, 1996, 26:431~435
    33 Fethi FATHAT, Chiheb REBAI, Adel GHAZEL, Patrick LOUMEAU. 1-bit Sigma Delta Analog to Digital Converter For Multi standard GSM/UMTS Radio Receiver. Industrial Technology, 2004,1: 290~294
    34 Shujaat Nadeem, Charles G. Sodini, Hae-Seung Lee. 16-Channel Over sampled Analog-to-Digital Converter. IEEE JOURNAL OF SOLID-STATE CIRCUITS,2004,29(9): 1~9
    35 Neena Nambiar, Benjamin J. Blalock, Milton N. Ericson. A Current Mode Multi-Channel Wilkinson ADC. ICSES SIGNALS AND ELECTRONIC SYSTEMS. 2008: 125~128
    36安群涛,孙力.基于DSP和IR2172的电机电流检测新方法.上海大中型电机. 2008,4: 1~5
    37 Christopher Taillefer. Analog-to-Digital Conversion via Time-Mode Signal Processing. McGill University. 2007: 125~133
    38 Heemin Y. Yang, Rahul Sarpeshkar. A Time-Based Energy Efficient Analog-to-Digital Converter. IEEE JOURNAL OF SOLID-STATE CIRCUITS, 2005,40(8): 1~12
    39 Christopher S. Taillefer Gordon W. Roberts. Delta-Sigma Analog to Digital Conversion via Time-Mode Signal Processing. Circuits and Systems,2007 :13~16
    40 Tsung-Heng Tsai, Paul J. Hurst, Stephen H. Lewis. TIME-INTERLEAVED ADC FOR DIGITAL COMMUNICATIONS. Circuits and Systems. 2006: 1~6
    41朱彦卿,何怡刚.片上三角波信号发生器实现方法.电工技术学报. 2008,23(10): 1~5
    42 JING RAO. System Embedded Calibration of Pipelined Analog-to-digital Converters. The Royal Institute of Technolgoy. 2006: 2~9
    43 Benoit Provost, Edgar Sánchez-Sinencio. On-Chip Ramp Generators for Mixed-Signal BIST and ADC Self-Test. IEEE JOURNAL OF SOLID-STATECIRCUITS, 2003, 38(2): 1~11
    44 Kuang-Yao Cheng, Ying-Yu Tzou. Design of a Sensorless Commutation IC for BLDC Motors. IEEE Trans on Power Electronics. 2003,18(6): 1365~1375
    45 Toshio Takahashi,Jay Goetz. Implementation of Complete AC Servo Control in a Low Cost FPGA and Subsequent ASSP Conversion. APEC’04, Anaheim, USA,2004 :565~570
    46周兆勇.面向军事用途的片上型伺服系统研究.哈尔滨工业大学博士学位论文. 2006:16~47
    47张亚利,田社平.自适应数字带阻滤波器的设计及应用.中国计量学院学报,2003,14(3): 1~6
    48 A. Azam', D. Sasidaran', K.Nelson, G. Ford, L. Johnson'. SINGLE-CHIP TUNABLE HETERODYNE NOTCH FILTERS IMPLEMENTED IN FPGA's. IEEE Midwest Symp. 2000,2: 860 ~ 863
    49严鹏,杨振,许伟杰.自适应Notch滤波器的FPGA实现.声学技术. 2008,27(2): 1~4
    50 Behrooz Parhima. Computer Arithmetic. OXFORD UNIVERSITY PRESS, 2000:143~156
    51 Gong Pu, Guo Hua. Post-Correction of Analog to Digital Converters. UNIVERSITY OF GAVLE. 2008: 20~35
    52韩雁,洪慧,马绍宇,霍明旭.集成电路制造中EDA工具使用教程.浙江大学出版社, 2007:166~176
    53袁俊泉,孙敏琪,曹瑞.数字系统设计及其应用.西安电子科技大学出版社, 2002:256~275

© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号

地址:北京市海淀区学院路29号 邮编:100083

电话:办公室:(+86 10)66554848;文献借阅、咨询服务、科技查新:66554700