电动负载模拟器控制系统的研究

发布时间：2018-03-01 00:11

本文关键词： 电动负载模拟器多余力矩迭代学习控制算法 DSP　出处：《安徽理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：电动负载模拟器是一种半实物仿真设备,其在航空航天、制导、科研实验等许多领域发挥着重要作用,它是舵机性能测试的关键设备之一。它的主要任务是给舵机系统进行负载加载,舵机实现带负载运行,与舵机共同组成完整的加载系统。近些年来随着电力电子、微机控制、电机驱动以及电机制造等技术的发展成熟,为设计高性能稳定的电动加载系统提供了很好的技术支持；经典控制算法和现代智能控制策略的相互结合,为电动加载系统多余力矩抑制问题提供了理论依据。本文设计基于TMS320F2812型DSP为核心控制器件的舵机电动加载系统,整个系统能够实时采集、存储和反馈给定加载信号、实际转矩信号等,根据程序设定的控制算法,控制器输出加载曲线经过加载电机驱动装置对舵机进行负载模拟。对舵机的负载模拟整个实验过程数据的设定、修改,实验在线监测都通过上位机实现。整个控制系统使用DSP芯片作为核心控制器,采用直流力矩电机作为加载执行元件,力矩传感器和光电编码器实时采样转矩和舵机角位移信号；采用改进的前馈补偿控制策略和基于迭代学习控制算法相结合的复合控制策略来抑制系统多余力矩。文章对整个加载系统建立了精准的数学模型,利用Simulink工具对本文采用的控制策略进行了仿真分析,仿真实验结果证明了该方法的可行性。系统硬件电路包括PWM驱动装置、DSP供电电源电路、系统复位电路、JTAG仿真接口电路、时钟电路和信号采样调理电路等,论文最后给出了控制系统的软件实现方法。
[Abstract]:Electric load simulator is a kind of hardware-in-the-loop simulation equipment, which plays an important role in many fields, such as aerospace, guidance, scientific research and experiment, etc. It is one of the key equipment for the performance test of the steering gear. Its main task is to load the steering gear system, which can operate with load and form a complete loading system together with the steering gear. In recent years, with the development of power electronics and microcomputer control, With the development of motor driving and motor manufacturing technology, it provides a good technical support for the design of high performance and stable electric loading system, and the combination of classical control algorithm and modern intelligent control strategy. It provides a theoretical basis for the problem of excess torque suppression in electric loading system. In this paper, an electric loading system of steering gear based on TMS320F2812 type DSP is designed. The system can collect, store and feedback the given loading signal and actual torque signal in real time, and set the control algorithm according to the program. The output load curve of the controller is simulated by loading motor driving device. The data of the whole experiment process of the load simulation of the steering gear is set up and modified. The whole control system uses DSP chip as the core controller, DC torque motor as the loading component, torque sensor and photoelectric encoder to sample the torque and the angular displacement signal of the steering gear in real time. An improved feedforward compensation control strategy and a compound control strategy based on iterative learning control algorithm are used to suppress the redundant torque of the system. A precise mathematical model is established for the whole loading system. The control strategy adopted in this paper is simulated and analyzed by using Simulink tool. The simulation results show that the method is feasible. The hardware circuit of the system includes the power supply circuit of PWM driver and the simulation interface circuit of the system reset circuit. Clock circuit and signal sampling conditioning circuit. Finally, the software realization method of the control system is given.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V216.8;TP273

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