高频角振动台控制系统设计

发布时间：2018-01-03 11:25

  本文关键词：高频角振动台控制系统设计　出处：《哈尔滨工业大学》2016年硕士论文　论文类型：学位论文

  更多相关文章： 高频角振动台 谐振抑制 音圈电机 DSP FPGA 自抗扰控制

【摘要】：高频角振动台主要用于对陀螺动态性能测试,特别是频带特性测试,此外角振动又是引起惯性器件加速度误差和陀螺漂移变化的重要原因。由于MEMS等陀螺频带相对较宽,就要求角振动台具有良好的动态跟踪性能,尤其是对高频信号的跟踪能力。本文以单轴角振动台控制系统设计为背景,根据角振动台控制系统的实际需求,完成了以DSP和FPGA为核心控制器的软硬件设计,并针对整个角振动台控制系统进行建模,通过对对象的模型分析,设计了以自抗扰控制为核心的控制算法,并在DSP内实现控制算法移植,最后在某转台上,对控制器以及控制算法进行了调试。本文的主要研究内容包括:对角振动台控制系统制建立完整的数学模型,分析了带驱动器的电机数学模型,此外还考虑到本转台高频响的特性,将谐振因素考虑进去,并且从负载变化的角度,分析系统固有频率的变化情况,最终确立了包括转台固有频率的角振动台系统的完整数学模型,为后面控制算法的设计和谐振的抑制作了奠定。针对角振动台系统数学模型,采用自抗扰控制为核心的控制算法,并设计了基于自抗扰控制的速度环和位置环两种闭环控制,对于速度环,分析了自抗扰对谐振和阻尼变动的情况的抑制能力,并与PID加限波器进行对比,仿真验证了自抗扰控制的鲁棒性和优越性,对于位置环,建立一阶自抗扰控制算法,考虑了力矩扰动情况下,自抗扰控制对系统扰动的抑制能力,并与PID进行对比,验证了位置环自抗扰控制算法设计的优越和良好的控制性能。根据角振动台控制器的功能需求,设计出以DSP和FPGA为控制核心多层电路板,并将自抗扰控制算法移植于DSP内,结合实际转台进行调试,验证了控制器设计的正确性和自抗扰控制算法的可行性。
[Abstract]:The high-frequency angular vibration table is mainly used to test the dynamic performance of gyroscope, especially the frequency band characteristic. In addition, angular vibration is an important reason for the acceleration error and gyroscope drift of inertial devices. Because of the relatively wide frequency band of gyroscope such as MEMS, the angular vibration table is required to have good dynamic tracking performance. Especially the tracking ability of high frequency signal. This paper is based on the design of the control system of the single-axis angular shaking table, according to the actual requirements of the control system of the angular vibration table. The hardware and software design of DSP and FPGA as the core controller is completed, and the whole control system of the angular shaking table is modeled, and the model of the object is analyzed. The control algorithm based on ADRC is designed, and the control algorithm is transplanted in DSP. Finally, the algorithm is transplanted on a turntable. The main contents of this paper are as follows: the complete mathematical model of the diagonal vibration table control system is established, and the mathematical model of the motor with drive is analyzed. In addition, considering the characteristics of the high frequency response of the turntable, the resonance factor is taken into account, and the change of the natural frequency of the system is analyzed from the point of view of the load change. Finally, the complete mathematical model of the angular vibration table system including the natural frequency of the turntable is established, which lays the foundation for the design of the rear control algorithm and the suppression of the resonance, aiming at the mathematical model of the angular vibration table system. The control algorithm based on active disturbance rejection control (ADRC) is adopted, and two closed-loop control methods, speed loop and position loop based on ADRC, are designed for the speed loop. The suppression ability of ADRC to resonance and damping variation is analyzed, and compared with PID wave-limiter, the robustness and superiority of ADRC are verified by simulation, for position loop. The first order active disturbance rejection control algorithm is established, and the ability of active disturbance rejection control to suppress the disturbance of the system is considered in the case of moment disturbance, and compared with that of PID. The design of position loop auto disturbance rejection control algorithm is proved to be superior and good control performance. According to the functional requirements of the angular vibrator controller, the multi-layer circuit board with DSP and FPGA as the control core is designed. The ADRC algorithm is transplanted into DSP and debugged with the actual turntable. The correctness of the controller design and the feasibility of the ADRC algorithm are verified.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V241.5
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本文编号：1373683