光电跟踪伺服控制系统的研究

发布时间：2018-05-01 20:34

本文选题：光电跟踪 + 位置伺服系统　；参考：《西安工业大学》2015年硕士论文

【摘要】：光电跟踪系统在目标跟踪、视频采集等场合应用广泛。其伺服控制系统对光电跟踪系统的快速性、准确性有重要的影响。针对目前光电跟踪伺服控制系统体积大、跟踪效果较差的缺点。本文以两轴式光电跟踪系统为研究对象,对光电跟踪伺服控制系统的方案设计、数学模型搭建、控制算法、软硬件设计等关键技术进行理论分析和系统设计。首先在了解光电跟踪系统工作流程的基础上,确定其伺服控制系统的整体方案并对其伺服控制系统的驱动电机、位置检测器件等关键环节器件选型,最终确定控制结构采用位置-转速-电流三环控制结构；搭建光电跟踪伺服控制系统的数学模型,研究并实现“准时间最优”的转速-电流环控制器设计方法,以提高伺服控制系统的快速性；针对位置环控制器的被控对象的数学模型高阶、非线性的特点,研究基于TS模糊模型的PID控制算法；硬件设计以实际工程为基础,设计并完成了光电跟踪伺服系统的核心控制模块、位置检测模块、电机驱动电流速度采集模块和人机交互模块。并对光电跟踪伺服控制系统软件做了研究。在仿真平台上搭建并实现光电跟踪伺服控制系统,实验结果表明,本文算法具有响应快、稳定性好、抗干扰能力强的特点。以伺服控制系统的控制结构为基础,本文设计的紧凑式的光电跟踪伺服控制系统有一定的实用价值。
[Abstract]:Photoelectric tracking system is widely used in target tracking, video capture and other occasions. The servo control system has an important effect on the speed and accuracy of the photoelectric tracking system. Aiming at the disadvantages of large volume and poor tracking effect of photoelectric tracking servo control system. This paper takes the two-axis optoelectronic tracking system as the research object, and carries on the theory analysis and the system design to the optoelectronic tracking servo control system's scheme design, mathematical model construction, control algorithm, hardware and software design and so on. Firstly, on the basis of understanding the work flow of photoelectric tracking system, the whole scheme of servo control system is determined, and the key components such as driving motor, position detector and other key parts of servo control system are selected. Finally, the control structure is determined to adopt the position, speed and current three-loop control structure, the mathematical model of the photoelectric tracking servo control system is built, and the design method of the "quasi-time optimal" rotational speed and current loop controller is studied and realized. In order to improve the rapidity of servo control system, the PID control algorithm based on TS fuzzy model is studied in view of the high order and nonlinear characteristics of the mathematical model of the controlled object of the position loop controller, and the hardware design is based on the actual engineering. The core control module, position detection module, motor driving current and velocity acquisition module and man-machine interaction module of photoelectric tracking servo system are designed and completed. The software of photoelectric tracking servo control system is studied. The photoelectric tracking servo control system is built and implemented on the simulation platform. The experimental results show that the algorithm has the characteristics of fast response, good stability and strong anti-interference ability. Based on the control structure of servo control system, the compact photoelectric tracking servo control system designed in this paper has certain practical value.
【学位授予单位】：西安工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM921.5

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