光电跟踪分数阶伺服控制系统的研究

发布时间：2017-12-28 23:12

  本文关键词：光电跟踪分数阶伺服控制系统的研究　出处：《西安工业大学》2016年硕士论文　论文类型：学位论文

  更多相关文章： 光电跟踪 伺服控制 永磁同步电机 空间矢量调制 分数阶PID控制 数字信号控制器

【摘要】：光电跟踪控制系统是一个由光电信号探测、信号处理、伺服控制系统以及机械结构组成的系统,在目标跟踪领域发挥了重要作用。光电跟踪控制系统以跟踪稳定性、精确性和快速性为设计目标,以及在外部环境干扰下具有自适应抗干扰的能力。在系统设计中,需要具备快速灵活、控制精度较高的伺服控制系统。本文在对系统功能分析的基础上,将单轴伺服控制系统作为研究的控制对象,采用分数阶微积分控制算法,研究并确立了系统的总体设计方案及控制策略,对系统的执行机构、控制器进行了选型和分析,并设计单轴光电跟踪的稳定控制系统的硬件平台,对系统的软件部分进行了研究与设计。本文主要的研究内容如下：(1)分析了的光电跟踪伺服控制研究意义和国内外发展现状,并对分数阶微积分和分数阶控制系统做了相应的研究。在MATLAB环境下对分数阶PID控制器的微分阶次和积分阶次进行了具体分析,并给出了实验结果和结论。(2)对系统的总体方案进行了设计,分析了控制系统的功能并研究了伺服控制系统的控制方法。选择单轴伺服控制作为研究对象,并选择三相永磁同步电机为执行机构,采用空间电压矢量调制策略,选择数字信号控制器控制电机的运行。(3)在分析分数阶控制器的基础上研究了分数阶PID参数整定方法,将一种典型的伺服控制系统作为研究对象,并设计了一种改进的粒子群优化方法对分数阶PID控制器的5个参数进行了参数整定,以解决分数阶控制器参数整定较复杂的问题,仿真实验结果验证了改进算法的有效性。(4)设计控制系统的整体硬件结构,包括主控电路、外围扩展模块电路、智能功率驱动模块电路和检测电路。软件设计方面阐述了伺服控制系统的主程序和子程序的设计过程。在CCS4.1编程环境下,对伺服控制系统的软件部分进行了设计。论文通过对光电跟踪伺服控制系统的方案设计、控制算法的理论分析,实现了分数阶伺服控制算法仿真研究。对控制系统硬件和软件进行了系统设计,并搭建了伺服系统实验平台证明了本文方法的有效性,具有一定的实用价值。
[Abstract]:Photoelectric tracking control system is a system composed of photoelectric signal detection, signal processing, servo control system and mechanical structure. It plays an important role in target tracking field. The photoelectric tracking control system is designed for tracking stability, accuracy and speediness, and has the ability of adaptive anti-interference under the interference of the external environment. In the design of the system, it is necessary to have a fast and flexible servo control system with high control precision. Based on the analysis of the system functions, the single axis servo control system as the control object of study, using the fractional calculus of control algorithm, and proposes the overall design scheme and the control strategy of the system, the actuator, the controller of the system are selected and analyzed, and the design of single axis photoelectric tracking stability control the hardware platform of the system, the software part of the system research and design. The main contents of this paper are as follows: (1) the research significance and development status of electro-optical tracking servo control are analyzed, and the fractional calculus and fractional order control system are studied accordingly. In the MATLAB environment, the differential order and integral order of the fractional order PID controller are analyzed, and the experimental results and conclusions are given. (2) the overall scheme of the system is designed, the function of the control system is analyzed and the control method of the servo control system is studied. The single axis servo control is selected as the research object, and three phase permanent magnet synchronous motor is chosen as the actuator, and the space voltage vector modulation strategy is adopted to select the digital signal controller to control the operation of the motor. (3) based on the analysis of fractional order controller on fractional PID parameter tuning method, a typical servo control system as the research object, and designed an improved particle swarm optimization method of fractional order PID controller 5 parameters for the parameter tuning, in order to solve the fractional order controller the parameter setting of more complex problems, the simulation results verify the effectiveness of the improved algorithm. (4) the overall hardware structure of the control system is designed, including the main control circuit, the peripheral extension module circuit, the intelligent power drive module circuit and the detection circuit. The design process of the main program and subroutine of the servo control system is described in the software design. In the environment of CCS4.1 programming, the software part of the servo control system is designed. Through the theoretical analysis of the scheme design and control algorithm of the photoelectric tracking servo control system, the simulation research of the fractional order servo control algorithm is realized. The hardware and software of the control system were designed, and the experimental platform of servo system was built, which proved the validity of the method and 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】：2016
【分类号】：TN29;TP273
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本文编号：1347817