便携式雷达二轴转台伺服控制系统设计

发布时间：2018-07-14 09:53

【摘要】：便携式雷达具有易于操作、轻便快捷、实时侦察、探测距离远、定位精确、全天候工作等优点,是现代战场上不可缺少的重要侦察装备。然而二轴转台伺服系统又是雷达的重要构成部分,雷达的测量精度与和动态性能直接受到转台伺服系统性能好坏的影响。为此,本文结合实际伺服控制系统的需求和项目实践经历,以便携式雷达二轴转台伺服系统为研究目标,对其中的控制技术进行研究和设计。本文首先结合实际需求和使用环境提出了二轴转台伺服系统的技术要求和精度要求,接着从控制回路、驱动回路和传动结构方案等方面阐述了系统的整体设计方案。然后经过研究目前PMSM的数学模型和传统的三闭环矢量控制技术,提出了一种PMSM多传感器组合使用零d轴电流全闭环矢量控制技术。其主要创新在于多传感器的安装位置、配合使用及电流、速度和位置的全闭环控制思想。系统采用电流传感器、霍尔传感器、相对式和绝对式编码器。其中电流传感器实现电流负反馈;霍尔传感器首先用于电启动机,当电机启动后,相对式编码器开始工作,此外,霍尔传感器和相对式编码器配合使用完成永磁同步电机转子初始位置的检测,加速电机转子初始位置的检测,相对式编码器用于电机速度的检测,实现电机速度的反馈;在传统的三闭环矢量控制中只是在电机上安装相对式编码器,用于电机的速度和位置的检测,实现电机的速度和位置反馈;本系统直接控制对象是PMSM,但实际上最终要实现的是对便携式雷达的控制,并且行星齿轮减速器中存在齿隙和摩擦等非线性和延迟的影响,严重影响系统的精度。因此在电机负载端(行星齿轮减速器的输出轴上)安装绝对编码器用于对行星齿轮减速器输出轴的位置检测,实现位置的反馈。最终,本文采取上述研究的控制策略,设计了二轴转台的硬件和软件平台,完成了整个产品设计。试研样机已经通过试验检验,现在已经完成批产,并投入运行。试验和实际运行效果表明本文设计的便携式雷达二轴转台伺服控制系统达到技术要求,能够稳定可靠运行,且控制效果良好。
[Abstract]:Portable radar is an indispensable reconnaissance equipment in modern battlefield because it is easy to operate, portable and fast, real-time reconnaissance, long detection range, accurate positioning, all-weather work and so on. However, two-axis turntable servo system is an important part of radar. The measurement accuracy and dynamic performance of radar are directly affected by the performance of turntable servo system. Therefore, combining with the requirement of the actual servo control system and the practical experience of the project, this paper studies and designs the control technology of the portable radar two-axis turntable servo system. In this paper, the technical requirements and precision requirements of the two-axis turntable servo system are put forward according to the actual demand and application environment, and then the overall design scheme of the system is expounded from the aspects of the control loop, the drive circuit and the transmission structure scheme. Then, by studying the mathematical model of PMSM and the traditional three-loop vector control technology, a PMSM multi-sensor combination using zero-d-axis current full closed loop vector control technology is proposed. The main innovation lies in the full closed loop control idea of multi-sensor installation position, coordination use and current, speed and position. The system uses current sensors, Hall sensors, relative and absolute encoders. The current sensor realizes negative current feedback. Hall sensor is first used in the electric starter. When the motor starts, the relative encoder starts to work, in addition, Hall sensor and relative encoder work together to detect the initial position of permanent magnet synchronous motor rotor and accelerate the detection of rotor initial position. The relative encoder is used to detect the speed of motor and realize the feedback of motor speed. In the traditional three-loop vector control, only the relative encoder is installed on the motor, which is used to detect the speed and position of the motor and realize the speed and position feedback of the motor. The direct control object of this system is PMSM, but in fact, the control of portable radar is to be realized in the end, and the influence of nonlinearity and delay, such as tooth gap and friction in planetary gear reducer, seriously affects the accuracy of the system. Therefore, an absolute encoder is installed at the motor load end (the output shaft of the planetary gear reducer) to detect the position of the output shaft of the planetary gear reducer and to realize the feedback of the position. Finally, the hardware and software platform of the two-axis turntable is designed by adopting the control strategy of the above research, and the whole product design is completed. The prototype has passed the test and has now been produced in batches and put into operation. The experiment and actual operation results show that the portable radar two-axis turntable servo control system designed in this paper meets the technical requirements, can run stably and reliably, and has good control effect.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TN957

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