基于ADRC的跟踪雷达天线伺服系统设计与实现

发布时间：2018-03-16 23:36

本文选题：跟踪雷达天线伺服系统　切入点：FPGA　出处：《天津大学》2014年硕士论文　论文类型：学位论文

【摘要】：跟踪雷达天线伺服系统被广泛地应用于目标搜索、空中防御、通信、定位等领域。其中控制电路是决定系统性能的重要部分,而控制器作为系统的核心元件决定了控制算法的执行精度与效率,并且还直接影响系统的整体性能。本文在设计控制电路时充分考虑了系统中方位环路和俯仰环路的同步性以及系统的精确性和快速性,同时还兼顾了控制电路的功耗、体积、便于实施等因素。最终实现了以FPGA为核心控制器、以LMD18200为伺服电机驱动器的全数字控制电路设计。本文所研究的跟踪雷达天线伺服系统选用了成本低、抗干扰能力强的旋转变压器来进行绝对位置检测。实现旋转变压器非线性输出信号到绝对线性位置信号的变换,是设计高性能跟踪雷达天线伺服系统的前提。本文首先介绍了旋转变压器输出信号线性变换器的已有设计方法,进而提出了一种新颖的旋转变压器的实现和设计方法。该方法充分利用了正余弦信号的性质,通过加减操作实现了旋转变压器位置信息的高精度变换,并且通过一系列实验结果的对比进一步说明了该方法的优越性。对于跟踪雷达天线伺服系统而言它是一种复杂的非线性、强耦合控制系统。本文提出了一种改进的自抗扰控制器设计方法,该控制器通过ADRC控制算法动态地解除了两个环路的耦合,此外对于从伺服系统恶劣工作环境中引入的强烈干扰以及系统的未建模扰动也进行了抑制。文章对跟踪雷达天线伺服系统的运行机理进行了数学建模,最后给出了系统的非线性数学模型。然后重点分析了如何通过ADRC实现两个回路的解耦、动态地抑制系统的扰动、解决系统的饱和等问题。论文中所提出的新颖算法以及设计方法均在跟踪雷达天线伺服系统上进行了实际验证,不同条件下的实验结果以及不同方法所得结果的对比充分说明了本文所提出的各种算法的有效性与可实施性,而且也进一步说明FPGA在并行处理方面的优越性,ADRC在处理不确定扰动方面的有效性。
[Abstract]:Tracking radar antenna servo system is widely used in target search, air defense, communication, positioning and other fields. The control circuit is an important part of the performance of the systems, and the controller as the core component of the system determines the execution efficiency and the accuracy of control algorithm, and also directly affect the overall performance of the system. Based on the design of control the circuit to take full account of the accuracy and speed of system in azimuth and pitching loop loop synchronization and system volume, while also taking into account the power control circuit, easy implementation and other factors. Finally realized with FPGA as the core controller, digital control circuit of servo motor driver design based on LMD18200 for tracking. Radar antenna servo system is studied in this paper with low cost, strong anti-interference ability of rotary transformer to achieve the absolute position detection. Non linear rotating transformer The output signal to the absolute linear position of signal transformation, is the design of high performance tracking radar antenna servo system. This paper first introduces the existing design method of linear rotating transformer output signal converter, and then puts forward the design and realization method of a novel rotary transformer. The method makes full use of the properties of positive cosine signal and through the addition and subtraction operations to achieve high precision transform rotary transformer position information, and through a series of comparative experimental results further illustrate the superiority of the proposed method for tracking radar antenna servo system. It is a complex nonlinear, strong coupling control system. This paper presents a design method of improved ADRC the controller, through the ADRC control algorithm to eliminate the dynamic coupling of the two loops, in addition to the servo system in harsh working environment The introduction of strong interference and system unmodeled disturbances were also inhibited. This paper established the mathematical model of tracking mechanism of radar antenna servo system, the nonlinear mathematical model of the system is given. Then analyses how to achieve ADRC to decouple the two loop, the dynamic disturbance suppression system, problem solving system saturated. All new algorithms proposed in this dissertation and the design method are verified in the tracking radar antenna servo system, comparing the experimental results under different conditions and the results of different methods shows that all the algorithms presented in the paper and the implementation effectiveness, but also further illustrate the superiority of FPGA in parallel processing, ADRC is effective in dealing with uncertain disturbances.

【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN957.2

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