光电雷达伺服控制系统研究

发布时间：2018-01-13 12:57

本文关键词：光电雷达伺服控制系统研究　出处：《沈阳理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：近些年随着无人机、小型军事飞行器等体积较小侦察装置运用于战场中,对光电雷达的研究提出了捕获力更强、体积更小、速度更灵敏的要求。论文在以光电雷达研究的基础上提出了一套体积小、响应快、匹配度高的伺服控制系统。建立了伺服控制数学模型,设计了一种针对性的伺服控制器,控制器以单片机与FPGA为核心控制单元,利用FPGA并行处理能力,完成接收编码器反馈数据、PWM电机驱动调制;利用单片机在算法设计上的优势高速实现控制数学模型。经实际实验,本系统使用PID算法达到伺服位置控制精度为编码器输入+-1码。首先,论文对伺服控制系统控制理论进行研究,建立了以双极型可逆电机驱动理论为基础,以PID控制算法为核心,以内模法控制原理为整体框架的伺服控制数学模型。其次,论文对系统结构进行分析,设计了由高精度二维转台、光电编码器、伺服控制器组成的光电雷达伺服控制系统。通过系统对伺服控制器提出的需求设计了以单片机与FPGA芯片作为主控单元,集合异步收发,功率前置放大的伺服控制器硬件结构。通过对系统数学模型的分析设计了基于PID算法与内模法控制理论的软件结构。最后,通过大量实验验证了伺服控制系统功能可靠性、程序稳定性和硬件电路稳定性。同时该系统也实现了令人满意的用户体验,实现了多方式运动、实时运动状态监视、在线系统参数更改等便利的功能。
[Abstract]:With the rapid development of small UAV, military aircraft and other small reconnaissance device used in the battlefield, study on the photoelectric radar is put forward to capture the stronger, smaller volume, speed is more sensitive. The paper based on the research of photoelectric radar put forward a set of small size, fast response, high degree of servo control system established mathematical model of servo control, it designs a servo controller, controller with MCU and FPGA as the core control unit, using FPGA parallel processing ability, complete receiving encoder feedback data, PWM electric machine driven by SCM modulation; in the algorithm design of the advantages of high speed control. The mathematical model of the actual experiment. The system uses the PID algorithm to achieve servo position control precision input +-1 code encoder. First, the servo control system control theory, established by bipolar Reversible motor drive theory, the PID control algorithm as the core, the internal model control principle control method mathematical model for servo framework. Secondly, the paper analyzes the system structure, design of the turntable, by two dimensional high precision photoelectric encoder, photoelectric radar servo control system servo controller a through the system of. The servo controller needs to chip and FPGA as the main control unit design, set asynchronous transceiver, servo controller hardware structure of power preamplifier. The software structure through the analysis of the mathematical model of the system is designed based on the PID algorithm and the method of internal model control theory. Finally, the servo control system of functional reliability was validated by experiments program, stability and stability of the system hardware circuit. At the same time also achieved satisfactory user experience, realizes the multi way movement, real-time motion State monitoring, online system parameter changes and other convenient functions.

【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN954.2

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