基于ARM的增稳云台姿态控制系统研究

发布时间：2018-07-17 20:44

【摘要】：随着科技的发展和人们生活水平的提高,越来越多的场合需要一个非常稳定的平台环境,从而降低振动对相关器件或仪器设备的干扰。在自然条件下难以获得理想的稳定环境,因而研究一种高精度、低成本的增稳云台控制系统,具有重要的应用价值。本文以创造稳定平台为目标,对基于ARM的增稳云台姿态控制系统进行了研究。本文首先讨论了云台的结构和云台稳定的物理模型,分析了实现主动消振的工作原理,进而构建了以Cortex-M3微控制器为主控芯片、MEMS运动传感器为云台姿态检测单元、永磁同步电机为动作执行单元、磁编码传感器为电机转子位置反馈单元等为核心的增稳云台姿态控制系统,并在此基础上进一步讨论了云台姿态解算算法和电机的磁场定向控制(Field-Oriented-Control)算法。在云台姿态解算中,以三轴加速度计、三轴陀螺仪组成捷联式惯导系统,通过计算姿态四元数来提取出欧拉角,具有运算量小、检测精度高的特点。同时,也研究了如何采用椭圆拟合的算法,通过利用地磁计来实现对航向角的校正,进一步保障了云台姿态检测的精度。在永磁同步电机的控制策略上,为实现转子位置定向控制,研究了基于坐标变换及电压空间矢量控制的磁场定向控制技术。也研究了非接触式磁编码器在测量电机转子位置中的应用,为实现电机的角度、速度、电流闭环控制提供了保证。与此同时,为了进一步简化电路设计、缩小电路板的尺寸,降低云台成本,研究了单电阻采样三相电流重构技术在本系统中的应用。在整体设计过程中,采用模块化的设计思路,姿态检测及电机控制单元都采用单独的微控制器控制,相互之间通过IIC通讯的方式协调动作,简化了系统设计难度的同时也提高了系统的控制精度和稳定性。最后采用实验的方式完成了云台姿态检测样板中MEMS传感器的初值读取及姿态欧拉角的解算,实现了航向角的校正。并制作了永磁同步电机的控制器样机,验证了该系统设计的可行性。
[Abstract]:With the development of science and technology and the improvement of people's living standard, more and more occasions need a very stable platform environment, so as to reduce the vibration interference to the relevant devices or equipment. It is difficult to obtain an ideal stable environment under natural conditions, so it is of great value to study a kind of high precision and low cost stabilized cloud head control system. Aiming at creating a stable platform, the attitude control system based on arm is studied in this paper. In this paper, the structure of the cloud head and the physical model of the stability of the cloud head are discussed, and the working principle of the active vibration suppression is analyzed, and then the motion sensor of MEMS based on the Cortex-M3 microcontroller is constructed as the attitude detection unit of the cloud head. The permanent magnet synchronous motor (PMSM) is an action executive unit, the magnetic coding sensor is the rotor position feedback unit of the motor, and the attitude control system of the stabilized cloud head is used as the core. On this basis, the attitude calculation algorithm of cloud head and the Field-Oriented-Control algorithm of motor are discussed. The strapdown inertial navigation system is composed of a three-axis accelerometer and a three-axis gyroscope in the calculation of the attitude of the cloud head. The Euler angle is extracted by calculating the quaternion of the attitude, which has the characteristics of small computation and high detection accuracy. At the same time, how to use the elliptical fitting algorithm to correct the heading angle by using the geomagnetometer is also studied, which further ensures the accuracy of the attitude detection of the cloud head. On the control strategy of permanent magnet synchronous motor (PMSM), in order to realize the rotor position oriented control, the field oriented control technology based on coordinate transformation and voltage space vector control is studied. The application of the non-contact magnetic encoder in measuring the rotor position of the motor is also studied, which provides the guarantee for the closed-loop control of the motor angle, speed and current. At the same time, in order to further simplify the circuit design, reduce the size of the circuit board and reduce the cost of the cloud head, the application of single-resistance sampling three-phase current reconstruction technology in this system is studied. In the whole design process, the modular design idea is adopted, the attitude detection and motor control unit are all controlled by a single microcontroller, and the actions are coordinated by means of IIC communication between each other. The system design difficulty is simplified and the control precision and stability of the system are improved. Finally, the initial value reading of MEMS sensor and the calculation of attitude Euler angle are completed by experiment, and the course angle correction is realized. The controller prototype of permanent magnet synchronous motor (PMSM) is made, and the feasibility of the system is verified.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM921.5

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