低速高精度条件下的伺服控制系统设计

发布时间：2019-01-04 21:35

【摘要】：“扰动台”是进行弹载雷达位标器性能测试的一种旋转平台。位标器性能测试要求“扰动台”工作于摆动状态,且满足转速低、速率精度高、启动速度快、体积小、重量轻等要求。普通伺服系统难以满足其要求。本论文针对这样一种特殊的应用场合,根据项目要求,对低速伺服系统速度环路的优化进行了研究。首先,本文介绍了伺服系统的发展及现状,并对伺服系统在低速条件下运行的性能恶化情况及其改进方法进行了阐述和介绍。其次,本文从常规伺服系统出发,分析了其中的控制模型和控制方法。针对速度环中的速率反馈环节提出了“量化器”模型。对于该模型引起的速率误差,本文结合当今理论研究中的卡尔曼算法,提出使用卡尔曼-PID算法,以改善单纯使用PID算法不能解决的伺服系统低速抖动问题。对于该理论的效果验证,进行了相应的仿真对比实验及分析。结果证实了卡尔曼算法的确比其他滤波算法更加适应于解决控制系统中的量化器噪声的滤除。然后,依据项目要求,本文以MDK为平台,以STM32微控制器为核心硬件,以UCOS3为操作系统,实现了低速高精度伺服系统的搭建。并在该系统上成功验证了卡尔曼-PID算法对于低速伺服系统的速率精度改善效果。同时,又以PC机为平台,以QT为编程环境,编制了一套用于控制该低速高精度伺服系统实现“扰动台”相关功能的软件。最后,以该高精度低速伺服系统为实验对象,通过测试PID算法的伺服系统和卡尔曼-PID算法的低速伺服系统,以两项指标(最低平稳速率和速率误差)为标准对比了上述两种算法的低速运行性能。结果显示,卡尔曼-PID算法比PID算法在解决由于角位置传感器的量化误差引起的低速抖动问题上取得了明显进步。
[Abstract]:The perturbed platform is a rotating platform for testing the performance of missile-borne radar positioner. The performance test of the bit scale requires the "disturbance station" to work in the swing state, and meet the requirements of low rotational speed, high speed precision, fast starting speed, small volume and light weight. General servo system is difficult to meet its requirements. In this paper, the speed loop optimization of low speed servo system is studied according to the project requirements for such a special application. Firstly, this paper introduces the development and present situation of servo system, and describes the performance deterioration of servo system under low speed and its improvement methods. Secondly, based on the conventional servo system, the control model and control method are analyzed. A quantizer model is proposed for the speed feedback link in the speed loop. For the rate error caused by this model, this paper proposes the use of Kalman PID algorithm to improve the low speed jitter problem of servo system which can not be solved simply by using PID algorithm. To verify the effect of this theory, the corresponding simulation contrast experiment and analysis are carried out. The results show that the Kalman algorithm is more suitable than other filtering algorithms to eliminate the quantizer noise in the control system. Then, according to the project requirements, this paper takes MDK as the platform, STM32 microcontroller as the core hardware, and UCOS3 as the operating system to realize the construction of low speed and high precision servo system. The rate accuracy improvement effect of Kalman PID algorithm for low speed servo system is verified successfully on the system. At the same time, using PC as the platform and QT as the programming environment, a set of software is developed to control the low speed and high precision servo system to realize the related function of "disturbance table". Finally, taking the high precision and low speed servo system as the experimental object, the servo system of PID algorithm and Kalman PID algorithm is tested. Two indexes (minimum stationary rate and rate error) are used to compare the low speed performance of the two algorithms. The results show that the Kalman PID algorithm is better than the PID algorithm in solving the low speed jitter problem caused by the quantization error of the angular position sensor.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN957

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