基于DSP的天线稳定平台伺服控制系统的设计与实现

发布时间：2018-03-17 16:40

本文选题：DSP　切入点：天线稳定平台　出处：《哈尔滨工程大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着数字化技术和信息化技术的不断提高,船用卫星通信需要实时、高效的接收卫星发来的语音、数据以及图像等多媒体信息。为了使天线能够始终的指向卫星,需要在舰船上构建一个天线稳定平台,来抑制船舶姿态和航向改变等因素带来的摇摆。本文以舰载卫星天线姿态稳定平台为研究背景,通过接收微惯性测量单元输出的各轴姿态信息,与旋转变压器变输出的天线轴端位置信息构成位置闭环,偏差量经过控制器的解算,将输出量进行功率放大,驱动电机做相应的转动,从而使天线隔离舰船摇摆,保持姿态的稳定。根据天线稳定平台伺服控制系统的工作原理,首先对系统进行了总体设计,并完成了关键元器件分析、选型。由于DSP芯片具有高效、高速、高精度等优点,并且能够提供多路PWM输出,非常适合进行电机的控制,因此本系统选用TI公司生产的TMS320F2812作为主控芯片。伺服控制系统的硬件部分由TMS320F2812最小系统板,电机的功率放大板,位置检测电路板组成。在完成系统的硬件电路板设计后,基于VC在上位机上设计了控制界面,实现对电机的位置控制、数据传输等功能。本文完成了天线稳定平台伺服控制系统的控制方法设计,建立了稳定回路的数学模型,并对伺服控制系统进行了理论分析和经典校正,验证了经典PID控制规律的可行性。分析了模糊控制理论和传统PID控制理论的优势和劣势,然后针对系统设计了模糊自适应PID控制器并给出了控制算法的实施步骤和软件实现,同时编写了 PWM波生成程序和位置检测程序,在软件设计中考虑到干扰的影响,采用了软件数字滤波的思想,更好的实现了对天线稳定平台的位置控制。通过软件仿真及多次试验得出,本文提出的模糊自适应PID控制算法的控制效果优于传统PID控制算法,减小了系统的超调量提高了控制的精度,同时具有更好的抗干扰能力和鲁棒性,比传统PID控制器有着更加良好的动、静态性能,达到了系统性能指标的要求。
[Abstract]:With the development of digital technology and information technology, marine satellite communication needs to receive multimedia information such as voice, data and image in real time and efficiently. It is necessary to construct an antenna stabilization platform on the ship to restrain the swaying caused by the ship attitude and course change. This paper takes the shipborne satellite antenna attitude stabilization platform as the research background. By receiving the attitude information of each axis outputted by the micro inertial measurement unit, the position closed loop is formed with the position information of the antenna shaft end of the variable output of the rotary transformer. The deviation is solved by the controller to amplify the output power. According to the working principle of servo control system of antenna stabilization platform, the system is designed as a whole, and the key components are analyzed. Because DSP chip has the advantages of high efficiency, high speed and high precision, and can provide multiple PWM output, it is very suitable for motor control. Therefore, the TMS320F2812 produced by TI is chosen as the main control chip. The hardware of servo control system is composed of TMS320F2812 minimum system board, motor power amplifier board and position detection circuit board. After the hardware circuit board design of the system is completed, The control interface is designed on the upper computer based on VC to realize the function of position control and data transmission of the motor. In this paper, the control method of the servo control system of the antenna stabilization platform is designed, and the mathematical model of the stabilization loop is established. The feasibility of classical PID control law is verified by theoretical analysis and classical correction of servo control system. The advantages and disadvantages of fuzzy control theory and traditional PID control theory are analyzed. Then the fuzzy adaptive PID controller is designed for the system, and the implementation steps and software implementation of the control algorithm are given. At the same time, the program of generating PWM wave and the program of position detection are written, and the influence of interference is taken into account in the software design. The idea of software digital filtering is used to better control the position of antenna stabilized platform. Through software simulation and many experiments, it is concluded that the fuzzy adaptive PID control algorithm proposed in this paper is better than the traditional PID control algorithm. The overshoot of the system is reduced and the control precision is improved. At the same time, it has better anti-jamming ability and robustness, and has better dynamic and static performance than the traditional PID controller, and meets the requirements of the system performance index.
【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】：2014
【分类号】：TP273;TN820

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