基于TMS320F28335数字光电稳定系统的研究

发布时间：2018-11-25 11:55

【摘要】：在航天、航空等行业迅速发展的带动下，导航系统进入了快速发展的阶段。稳定平台是影响导航系统功能实现以及导航精度的重要组成器件，在现代导航系统的发展中起到了重要作用。传统的稳定平台控制方法以模拟电路实现为主，存在体积大、成本高、故障频繁等缺陷，已经不能满足现代控制系统对于系统小型化、稳定性以及复杂控制能力的要求。在高性能数字芯片迅速发展的带动下，数字控制系统代替模拟系统成为主流。现阶段，国内大部分稳定控制系统的控制芯片为定点型芯片，其浮点运算能力有限，运用浮点型DSP可以提高算法的计算精度，显效舍入现象，更有利于提高系统的稳定精度。本文根据光电稳定平台系统精度要求，设计了一种基于弹载光电稳定平台控制系统的整体方案，包括光电稳定平台机械结构设计和光电稳定平台控制系统设计，并分析转动惯量、机械谐振对于系统的影响，完成系统关键器件的选型；建立光电稳定平台广电稳定平台系统数学模型，设计了一种光电稳定平台系统的数字PID控制器，并通过仿真验证了该数字PID控制器的有效性；对光电稳定平台系统的性能进行分析，验证本文设计的光电稳定平台系统具有搜索、跟踪以及空域稳定功能。针对摩擦力对光电稳定平台系统低速性能的影响，建立并分析了影响光电稳定平台系统的摩擦力模型；分析了抑制摩擦力的方法并设计了基于多环路方式和前馈补偿方式的摩擦力抑制方案。仿真结果表明，该抑制方案能够有效地克服摩擦力矩的影响。设计并实现了一个基于DSP的光电稳定平台系统的硬件系统，，设计并完成了光电稳定平台系统的软件部分。最后，制作了一套光电稳定平台控制板作为验证板，并通过实验验证光电稳定平台系统的性能。实验结果表明，本文设计的光电稳定平台系统响应迅速、定位准确、隔离扰动能力比较强，符合整体设计要求。
[Abstract]:With the rapid development of aerospace, aviation and other industries, navigation system has entered the stage of rapid development. The stable platform is an important component of navigation system, which plays an important role in the development of modern navigation system. The traditional stable platform control method is based on analog circuit, which has many defects, such as large volume, high cost and frequent faults. It can not meet the requirement of miniaturization, stability and complex control ability of modern control system. With the rapid development of high performance digital chip, digital control system instead of analog system becomes the mainstream. At present, the control chip of most stable control systems in China is a fixed-point chip, and its floating-point operation ability is limited. Using floating-point DSP can improve the calculation accuracy of the algorithm, obviously rounding phenomenon, and is more conducive to improving the stability accuracy of the system. According to the precision requirement of the photoelectric stabilization platform system, this paper designs a whole scheme of the control system based on the electro-optical stabilization platform, including the mechanical structure design of the photoelectric stabilization platform and the control system design of the photoelectric stabilization platform. The influence of the moment of inertia and the mechanical resonance on the system is analyzed, and the selection of the key components of the system is completed. The mathematical model of the electro-optical stabilization platform radio and television stabilization platform system is established and a digital PID controller of the photoelectric stabilization platform system is designed. The effectiveness of the digital PID controller is verified by simulation. The performance of the optoelectronic stabilization platform system is analyzed, and it is verified that the optoelectronic stabilization platform system designed in this paper has the functions of searching, tracking and spatial stability. Aiming at the influence of friction force on the low speed performance of optoelectronic stabilization platform system, the friction model of optoelectronic stabilization platform system is established and analyzed. The friction suppression method is analyzed and the friction suppression scheme based on multi-loop and feedforward compensation is designed. The simulation results show that the proposed scheme can effectively overcome the influence of friction moment. The hardware system of the photoelectric stabilization platform system based on DSP is designed and implemented. The software part of the photoelectric stabilization platform system is designed and completed. Finally, a set of photoelectric stabilization platform control board is made as the verification board, and the performance of the photoelectric stabilization platform system is verified by experiments. The experimental results show that the optoelectronic stabilization platform designed in this paper has the advantages of rapid response, accurate positioning, strong ability of isolating disturbance, and meets the requirements of the whole design.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TN966;TP368.1

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