三自由度激光链路模拟平台的控制研究
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摘要
惯性系统在航空、航天和航海领域中占有举足轻重的地位。随着惯性元件和惯性系统的精度不断提高,对其测试设备的要求也越来越高。测试转台是惯性导航系统和惯性元件研制过程中必须的重要设备,它的性能指标直接影响到空间飞行器和运载体的控制和导航的精度。因此,研制高精度、高可靠性的惯性测试设备,对于我国航空、航天工业的发展有着重要的意义。
本论文以三自由度激光链路模拟平台研制为背景,采用“NC嵌入PC”的开放式控制系统,选用Turbo PMAC作为运动控制器,嵌入到上位工业PC机内,并与直流力矩电机及其驱动器、交流伺服电机、伺服驱动器、光电编码器等部件搭建具有全闭环控制功能的三自由度模拟平台控制系统。
根据控制系统功能需要开发了控制系统应用软件,主要包括主控制界面、信号测试界面、PID参数调试界面、微动控制界面、数据采集界面5个界面,以实现故障诊断、参数输入、工作状态的监视和显示、数据采集和人机交互等功能;还对基于双端口RAM的高速数据采集技术进行了研究,为控制系统后续分析提供了可靠保障。
根据设计任务书技术指标要求制定控制系统实验方案,从运动范围和角位置精度、最大速度和最大加速度、双十指标、动态跟踪性能、低速性能五个方面展开了实验方案。实验表明,所研制的控制系统各项技术指标均达到了设计要求。
Inertial system is very important in aviation field and navigation field. As inertial component and inertial system accuracy improving, the requirement of performance to the test equipment is higher and higher. Testing table is a special equipment for inertia navigation system and inertia component’s research. Its performance will affect the aircraft and the vehicle’s precision of control system and navigation. So the research on high precise inertia testing table is very important for developing our country’s aerospace and aviation industries.
This thesis focuses on the design of three-dimension laser link simulation turntable. We designed a three-dimension simulation turntable with a full-closed loop control based on "NC+PC" opening architecture, which consists of Turbo PMAC motion controller embedded in the standard socket of industrial process computer(IPC), DC brushless torque motors and its drivers, AC servo motor, servo-driver and photoelectric encoders.
According to the control system function requirement, this thesis developed a software which consists of main software interface, signal test Interface, PID parameters debugging interface, jogging test interface and data acquisition interface to realize functions of fault diagnosis, parameter input, monitoring the condition of the system, data collection and human-computer interaction. This thesis also introduces the data collecting technique based on double-port-RAM, which provides guarantee for data analyzing.
According to the technique parameter which be put forward by related unit, this thesis carried out experiments which consist of range of motion and position precision test, max velocity and max acceleration test, bandwidth test, performance of dynamic tracking test and low speed performance test to confirm the performance of the control system. The experimental results show that all of the indexes of the system met the performance requirements.
本论文以三自由度激光链路模拟平台研制为背景,采用“NC嵌入PC”的开放式控制系统,选用Turbo PMAC作为运动控制器,嵌入到上位工业PC机内,并与直流力矩电机及其驱动器、交流伺服电机、伺服驱动器、光电编码器等部件搭建具有全闭环控制功能的三自由度模拟平台控制系统。
根据控制系统功能需要开发了控制系统应用软件,主要包括主控制界面、信号测试界面、PID参数调试界面、微动控制界面、数据采集界面5个界面,以实现故障诊断、参数输入、工作状态的监视和显示、数据采集和人机交互等功能;还对基于双端口RAM的高速数据采集技术进行了研究,为控制系统后续分析提供了可靠保障。
根据设计任务书技术指标要求制定控制系统实验方案,从运动范围和角位置精度、最大速度和最大加速度、双十指标、动态跟踪性能、低速性能五个方面展开了实验方案。实验表明,所研制的控制系统各项技术指标均达到了设计要求。
Inertial system is very important in aviation field and navigation field. As inertial component and inertial system accuracy improving, the requirement of performance to the test equipment is higher and higher. Testing table is a special equipment for inertia navigation system and inertia component’s research. Its performance will affect the aircraft and the vehicle’s precision of control system and navigation. So the research on high precise inertia testing table is very important for developing our country’s aerospace and aviation industries.
This thesis focuses on the design of three-dimension laser link simulation turntable. We designed a three-dimension simulation turntable with a full-closed loop control based on "NC+PC" opening architecture, which consists of Turbo PMAC motion controller embedded in the standard socket of industrial process computer(IPC), DC brushless torque motors and its drivers, AC servo motor, servo-driver and photoelectric encoders.
According to the control system function requirement, this thesis developed a software which consists of main software interface, signal test Interface, PID parameters debugging interface, jogging test interface and data acquisition interface to realize functions of fault diagnosis, parameter input, monitoring the condition of the system, data collection and human-computer interaction. This thesis also introduces the data collecting technique based on double-port-RAM, which provides guarantee for data analyzing.
According to the technique parameter which be put forward by related unit, this thesis carried out experiments which consist of range of motion and position precision test, max velocity and max acceleration test, bandwidth test, performance of dynamic tracking test and low speed performance test to confirm the performance of the control system. The experimental results show that all of the indexes of the system met the performance requirements.
引文
1蔡燕民,陈刚,董作人.空间激光通信技术及其发展.电子科技大学学报. 1998, 27(5):453~461
2潘文,胡渝.美国空间激光通信研究发展概况及现.电子科技大学学报. 1998, 27(5):541~545
3马东堂,魏急波,庄钊文.空间激光通信及应用.半导体光电. 2003, 24(2):139~144
4王沪涛,张波.基于PMAC的大惯量转台运动控制系统研究.研究与开发. 2007, 3(1):68~70
5孔凡凯,薛开.基于PMAC的转台运动控制系统开发.应用技术. 2005, 32(4):43~44
6牛志刚,张建民.基于Turbo PMAC的数控系统自定义伺服算法的嵌入和实现.新技术新工艺. 2005, 7(1):11~13
7王清华,韩秋实,孙志永,彭宝营.基于Turbo PMAC数控系统的PID在线调节.微型计算机信息. 2007, 23(6):226~228
8李醇铼,梅晓榕,郭忠来.基于超稳定理论的三轴转台自适应控制研究.系统仿真学报. 2006, 18(2):865~868
9路周才.三轴转台的工作原理及控制.宝鸡文理学院学报. 1995, 1:39~43
10谢富春,孙玉敏,罗学科.基于PMAC的二维实验台运动控制系统.电气时代. 2006, 11:66~68
11宓方伟,陈功福. PMAC多轴运动控制器应用研究.机床与液压. 2004, 12:129~131
12梁利华,张松涛,梁燕华.基于PMAC的三轴海浪模拟摇摆台设计.机床与液压. 2005, 9(4):117~119
13陈岳林,沈灿钢.基于PMAC的精密定位控制系统的分析.现代制造工程. 2006, 2:5~8
14刘学鹏,王斌.基于PMAC的开放式高精度运动控制台的研究.中国机械工程. 2007, 6(18): 1186~1168
15李醇铼.三轴电控转台的自适应控制.哈尔滨工业大学硕士学位论文, 2006
16 B. Armstrong,B. Amin. PID Control in the Presence of Static Friction:A Comparison of Algebraic and Describing Function Analysis. Automatica. 1996,32(5):679~692
17 Delta Tau Data System Inc. Turbo PMAC USER MANUAL. USA. Delta Tau Data System Inc. 2004
18 Delta Tau Data System Inc. Turbo PMAC Accessory 14P. USA. Delta Tau Data System Inc. 2004
19 Delta Tau Data System Inc. Turbo PMAC/PMAC2 SOFTWARE REFERENCE MANUAL. USA. Delta Tau Data System Inc. 2004
20 Delta Tau Data System Inc. PCOMM32PRO SOFTWARE REFERENCE MANUAL. USA. Delta Tau Data System Inc. 2004
21 B. Armstrong. A survey of models,analysis tools and compensation methods for the control of machines with friction. Automatica. 1994,30(7):1083~1138
22 G. P. Liu,S. Daley. Optimal-tuning PID control for industrial systems. Control Engineering Practice. 2001
23 K. J. Astrom,C. C. Hang,P. Persson,W. K. Ho. Towards Intelligent PID Control. Automatica. 1992
24 O. Keles,Y. Ercan. Theoretical and experimental investigation of a pulse-width modulated digital hydraulic position control system. Control Engineering Practice. 2002
25 L. Wang,W. R. Cluett. Tuning PID Controllers for Integrating Processes. IEEE Proc. Control Appl. 1997
26 Senj. Yu,Tomonobu. Simple robust speed control scheme for DC servomotors using furry reasoning. Power Electron Congre CIEP IEEE. 1996
27 Min-Ho Park, Chung-Yeun Won. Time Optimal Control for Induction Motor Servo System. IEEE Transactions on Power Electronics. 1991
28 Hideki Yanada and Kazumasa Furuta. Adaptive control of an electrohydraulic servo system utilizing online estimate of its natural frequency. Mechatronics. 2007
29邹秀斌.三轴仿真转台关键技术研究.合肥工业大学硕士学位论文, 2005
30宋浩.微小型无人直升机三轴飞行仿真转台设计研究.浙江大学硕士学位论文, 2006
31凌明清.二维数控转台控制算法及实验研究.西安电子科技大学硕士学位论文, 2006
32吴艳敏.导弹目标模拟转台控制系统研究.哈尔滨工业大学硕士学位论文, 2006
33徐莉.三轴惯导元件测试转台的研制.哈尔滨工业大学硕士学位论文, 2006
34崔巍.双轴精密伺服转台控制系统设计与研究.哈尔滨工业大学硕士学位论文, 2000
35周义长.三轴飞行仿真转台控制系统设计与控制算法研究.中国科学院研究生院博士学位论文, 2004
36赵爱德.全自动三维多功能惯导测试转台测角系统的研究.合肥工业大学硕士学位论文, 2006
37 G. Feng,S. G. Cao and N. W. Rees. Stable adaptive control of fuzzy dynamic systems. Fuzzy Sets and Systems. 2002,131(2). :217~224
38 Chin-Wen Chuang,Liang-Cheng Shiu. CPLD based DIVSC of hydraulic position control systems. Computers & Electrical Engineering. 2004
39张巍.三轴光学跟踪试验转台的动力学仿真研究.哈尔滨工业大学硕士学位论文, 2006
40赵郁峰.三轴转台的神经网络控制研究及基于RTX控制软件设计.四川大学硕士学位论文, 2005
41 A. Louis. Design study for a high accuracy three-Axis test table. AIAA Guidance and Control Conference. New York,1985
42 J. L. Johnson. Identifying Errors in Motion~Control Servoloops. Hydraulics&Pneumatics. 1997
43 A. voda,I. Landau. A Method for the Auto-Calibration of PID controllers. Automatica. 1995
44 M. Zhuang,D. P. Atherton. Automatic Tuning of Optimum PID Controllers. IEE Proceedings-D. 1993
45 Y. Pmh,F. Vrancic,R. Hanus,Anti-Windup,Bumpless,and conditioned Transfer techniques for PID controllers. IEEE Control system Magazine 1996,16(4)
46刘雨.精密测试转台测角系统研究.哈尔滨工业大学硕士论文. 2001
2潘文,胡渝.美国空间激光通信研究发展概况及现.电子科技大学学报. 1998, 27(5):541~545
3马东堂,魏急波,庄钊文.空间激光通信及应用.半导体光电. 2003, 24(2):139~144
4王沪涛,张波.基于PMAC的大惯量转台运动控制系统研究.研究与开发. 2007, 3(1):68~70
5孔凡凯,薛开.基于PMAC的转台运动控制系统开发.应用技术. 2005, 32(4):43~44
6牛志刚,张建民.基于Turbo PMAC的数控系统自定义伺服算法的嵌入和实现.新技术新工艺. 2005, 7(1):11~13
7王清华,韩秋实,孙志永,彭宝营.基于Turbo PMAC数控系统的PID在线调节.微型计算机信息. 2007, 23(6):226~228
8李醇铼,梅晓榕,郭忠来.基于超稳定理论的三轴转台自适应控制研究.系统仿真学报. 2006, 18(2):865~868
9路周才.三轴转台的工作原理及控制.宝鸡文理学院学报. 1995, 1:39~43
10谢富春,孙玉敏,罗学科.基于PMAC的二维实验台运动控制系统.电气时代. 2006, 11:66~68
11宓方伟,陈功福. PMAC多轴运动控制器应用研究.机床与液压. 2004, 12:129~131
12梁利华,张松涛,梁燕华.基于PMAC的三轴海浪模拟摇摆台设计.机床与液压. 2005, 9(4):117~119
13陈岳林,沈灿钢.基于PMAC的精密定位控制系统的分析.现代制造工程. 2006, 2:5~8
14刘学鹏,王斌.基于PMAC的开放式高精度运动控制台的研究.中国机械工程. 2007, 6(18): 1186~1168
15李醇铼.三轴电控转台的自适应控制.哈尔滨工业大学硕士学位论文, 2006
16 B. Armstrong,B. Amin. PID Control in the Presence of Static Friction:A Comparison of Algebraic and Describing Function Analysis. Automatica. 1996,32(5):679~692
17 Delta Tau Data System Inc. Turbo PMAC USER MANUAL. USA. Delta Tau Data System Inc. 2004
18 Delta Tau Data System Inc. Turbo PMAC Accessory 14P. USA. Delta Tau Data System Inc. 2004
19 Delta Tau Data System Inc. Turbo PMAC/PMAC2 SOFTWARE REFERENCE MANUAL. USA. Delta Tau Data System Inc. 2004
20 Delta Tau Data System Inc. PCOMM32PRO SOFTWARE REFERENCE MANUAL. USA. Delta Tau Data System Inc. 2004
21 B. Armstrong. A survey of models,analysis tools and compensation methods for the control of machines with friction. Automatica. 1994,30(7):1083~1138
22 G. P. Liu,S. Daley. Optimal-tuning PID control for industrial systems. Control Engineering Practice. 2001
23 K. J. Astrom,C. C. Hang,P. Persson,W. K. Ho. Towards Intelligent PID Control. Automatica. 1992
24 O. Keles,Y. Ercan. Theoretical and experimental investigation of a pulse-width modulated digital hydraulic position control system. Control Engineering Practice. 2002
25 L. Wang,W. R. Cluett. Tuning PID Controllers for Integrating Processes. IEEE Proc. Control Appl. 1997
26 Senj. Yu,Tomonobu. Simple robust speed control scheme for DC servomotors using furry reasoning. Power Electron Congre CIEP IEEE. 1996
27 Min-Ho Park, Chung-Yeun Won. Time Optimal Control for Induction Motor Servo System. IEEE Transactions on Power Electronics. 1991
28 Hideki Yanada and Kazumasa Furuta. Adaptive control of an electrohydraulic servo system utilizing online estimate of its natural frequency. Mechatronics. 2007
29邹秀斌.三轴仿真转台关键技术研究.合肥工业大学硕士学位论文, 2005
30宋浩.微小型无人直升机三轴飞行仿真转台设计研究.浙江大学硕士学位论文, 2006
31凌明清.二维数控转台控制算法及实验研究.西安电子科技大学硕士学位论文, 2006
32吴艳敏.导弹目标模拟转台控制系统研究.哈尔滨工业大学硕士学位论文, 2006
33徐莉.三轴惯导元件测试转台的研制.哈尔滨工业大学硕士学位论文, 2006
34崔巍.双轴精密伺服转台控制系统设计与研究.哈尔滨工业大学硕士学位论文, 2000
35周义长.三轴飞行仿真转台控制系统设计与控制算法研究.中国科学院研究生院博士学位论文, 2004
36赵爱德.全自动三维多功能惯导测试转台测角系统的研究.合肥工业大学硕士学位论文, 2006
37 G. Feng,S. G. Cao and N. W. Rees. Stable adaptive control of fuzzy dynamic systems. Fuzzy Sets and Systems. 2002,131(2). :217~224
38 Chin-Wen Chuang,Liang-Cheng Shiu. CPLD based DIVSC of hydraulic position control systems. Computers & Electrical Engineering. 2004
39张巍.三轴光学跟踪试验转台的动力学仿真研究.哈尔滨工业大学硕士学位论文, 2006
40赵郁峰.三轴转台的神经网络控制研究及基于RTX控制软件设计.四川大学硕士学位论文, 2005
41 A. Louis. Design study for a high accuracy three-Axis test table. AIAA Guidance and Control Conference. New York,1985
42 J. L. Johnson. Identifying Errors in Motion~Control Servoloops. Hydraulics&Pneumatics. 1997
43 A. voda,I. Landau. A Method for the Auto-Calibration of PID controllers. Automatica. 1995
44 M. Zhuang,D. P. Atherton. Automatic Tuning of Optimum PID Controllers. IEE Proceedings-D. 1993
45 Y. Pmh,F. Vrancic,R. Hanus,Anti-Windup,Bumpless,and conditioned Transfer techniques for PID controllers. IEEE Control system Magazine 1996,16(4)
46刘雨.精密测试转台测角系统研究.哈尔滨工业大学硕士论文. 2001