无线位置伺服控制系统设计及其算法研究
发布时间：2018-11-22 17:34
【摘要】：为弥补当前位置伺服系统控制精度不高和有线数据传输的不便,通过对无线通信和位置伺服系统的研究,从模块选型、控制算法和程序优化着手,设计了一种较高精度无线位置伺服控制系统。采用多量程较高精度L3G4200DH三轴陀螺仪作为角位置传感器,通过2.4G NRF24L01无线射频收发芯片实现数据传输,以意法半导体公司STM32F103RBT6作为微控制器,其为Cortex-M3系列ARM产品,使用模糊PID全闭环控制算法对伺服电机进行控制,并且加超前校正和前馈环节,其中,超前校正可以使输出信号比输入超前,改善角度输入响应滞后,从而减小系统的跟随误差;前馈这一环节可以使输出量变化最大程度跟随输入量变化。同时,采用无线视频模块实时监控伺服电机状态,实现对电机的精确运动控制。本文首先梗概了当前国内外在无线位置伺服领域的研究发展情况,并简单概述了无线位置伺服控制技术工作原理和本文研究意义;其次整体把握该系统的整体设计思路,对系统方案、硬件选型、控制算法和策略、关键程序代码等进行深入分析,提出一种模糊PID全闭环复合控制算法。最后分析了系统的主要误差来源,并对控制算法进行建模和仿真。通过仿真和实验证明伺服系统在精度和实时性上有了很大的提高,动态跟随精度达到了10-3,具有良好的跟踪特性,同时无线数据传输方式,将会给远程控制和特殊作业环境带来极大的方便。
[Abstract]:In order to make up for the inconveniences of current position servo system's control precision and wired data transmission, through the research of wireless communication and position servo system, the selection of module, control algorithm and program optimization are introduced. A high precision wireless position servo control system is designed. Using L3G4200DH three-axis gyroscope with high precision as angular position sensor, data transmission is realized by 2.4G NRF24L01 radio frequency transceiver chip, and STM32F103RBT6 is used as microcontroller by Italian semiconductor company, which is a Cortex-M3 series ARM product. The fuzzy PID full closed loop control algorithm is used to control the servo motor, and the advanced correction and feedforward link are added. The advanced correction can make the output signal ahead of the input and improve the angle input response lag. Thus, the following error of the system is reduced. Feedforward this link can make the output change as much as possible with the input variable. At the same time, the wireless video module is used to monitor the state of the servo motor in real time to realize the accurate motion control of the motor. Firstly, this paper summarizes the research and development of wireless position servo at home and abroad, and briefly summarizes the working principle of wireless position servo control technology and the significance of the research in this paper. Secondly, the overall design idea of the system is grasped, and the system scheme, hardware selection, control algorithm and strategy, key program code are deeply analyzed, and a fuzzy PID full closed loop compound control algorithm is proposed. Finally, the main error sources of the system are analyzed, and the control algorithm is modeled and simulated. Simulation and experiments show that the servo system has a great improvement in accuracy and real-time performance, dynamic tracking accuracy has reached 10-3, good tracking characteristics, and wireless data transmission mode. It will bring great convenience to remote control and special working environment.
【学位授予单位】：上海理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.541
本文编号：2350071
[Abstract]:In order to make up for the inconveniences of current position servo system's control precision and wired data transmission, through the research of wireless communication and position servo system, the selection of module, control algorithm and program optimization are introduced. A high precision wireless position servo control system is designed. Using L3G4200DH three-axis gyroscope with high precision as angular position sensor, data transmission is realized by 2.4G NRF24L01 radio frequency transceiver chip, and STM32F103RBT6 is used as microcontroller by Italian semiconductor company, which is a Cortex-M3 series ARM product. The fuzzy PID full closed loop control algorithm is used to control the servo motor, and the advanced correction and feedforward link are added. The advanced correction can make the output signal ahead of the input and improve the angle input response lag. Thus, the following error of the system is reduced. Feedforward this link can make the output change as much as possible with the input variable. At the same time, the wireless video module is used to monitor the state of the servo motor in real time to realize the accurate motion control of the motor. Firstly, this paper summarizes the research and development of wireless position servo at home and abroad, and briefly summarizes the working principle of wireless position servo control technology and the significance of the research in this paper. Secondly, the overall design idea of the system is grasped, and the system scheme, hardware selection, control algorithm and strategy, key program code are deeply analyzed, and a fuzzy PID full closed loop compound control algorithm is proposed. Finally, the main error sources of the system are analyzed, and the control algorithm is modeled and simulated. Simulation and experiments show that the servo system has a great improvement in accuracy and real-time performance, dynamic tracking accuracy has reached 10-3, good tracking characteristics, and wireless data transmission mode. It will bring great convenience to remote control and special working environment.
【学位授予单位】：上海理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.541
【参考文献】
相关硕士学位论文 前2条
1 吴昊;基于DSP的直流电机位置控制技术研究[D];华中科技大学;2007年
2 孙锋利;基于DSP的随动控制系统的设计与实现[D];南京理工大学;2010年
，本文编号：2350071
本文链接：https://www.wllwen.com/kejilunwen/dianlilw/2350071.html
教材专著
