基于ARM的燃气舵舵机控制系统的设计与分析

发布时间：2018-01-07 14:29

本文关键词：基于ARM的燃气舵舵机控制系统的设计与分析　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：现代化军事设备中精确制导导弹已经是不可或缺的一项重要武器,随着现代战争对武器科技水平的要求越来越高,高精度制导技术已经成为国家制导导弹研究的重要方向。舵机伺服系统控制技术水平不仅影响导弹的空中飞行姿态,而且在极大程度上决定了导弹的制导精度。目前制导弹箭主要采用直流无刷永磁伺服舵机作为舵片控制部件,直流无刷伺服舵机主要依靠舵机转轴的转动带动舵片旋转,以达到预定转动角度。舵机伺服系统具有低体积、低质量、高转速、高转矩等特点,具有良好的控制精度,但同时其具有很强的非线性和时变性,因此基于舵机伺服系统的控制技术成为了现今社会研究热点。本文以燃气舵系统为研究对象,对直流无刷伺服舵机的软硬件控制系统和控制算法进行了深入研究,主要工作和研究成果如下:(1)对直流无刷伺服舵机系统的结构特点、运行特性以及相关控制原理进行了分析,选定了 Dynamixel系列的直流无刷伺服舵机作为本文的研究对象,基于其舵机参数进行了结构原理分析以及传递函数推导,并基于Matlab对该舵机进行了数学建模,分析了该舵机的参数影响并确定了该舵机的基本数学结构。(2)设计并制造了基于LPC2292芯片的ARM开发板,基于Protel软件分别从ARM板的PWM模块、A/D转换模块、电源模块等方面进行了模块化设计,在此基础上选择导电塑料电位器作为舵机位置检测元件,设计并完成了基于位置检测的硬软件反馈环节,设计安装组成了燃气舵舵机系统。在四舵片燃气舵系统基础上完成了舵机伺服控制系统的硬件实验平台,经实验验证,该位置检测环节与ARM板成功完成了对燃气舵舵机的闭环控制。(3)基于本文搭建的燃气舵舵机伺服系统硬件实验平台,用传统PI进行仿真试验,得到的实验结果有超调,响应时间较慢。在此基础上引入自适应模糊理论并进行模糊理论分析,设计了自适应模糊PI算法,完成了 Matlab上的模糊PI仿真建模及控制程序编写。基于本文搭建的硬件实验平台和自适应模糊控制PI算法,对舵机系统进行了仿真分析和实验分析,针对有负载和空载时舵机系统的响应状态进行了实验研究,分别从给定正弦以及阶跃信号跟踪能力进行了仿真分析和实验分析,对比了传统PI和自适应模糊PI对舵机系统的控制效果,结果表明,从调节时间、上升时间、超调量上,本文设计的自适应模糊PI控制器的控制效果均优于传统PI控制。
[Abstract]:The modernization of military equipment in the precision guided missile is an important weapon indispensable, with modern warfare increasingly high demands on the weapon technology level, high precision guidance technology has become an important research direction of guided missile. National technical level not only affects the flight attitude control of missile rudder servo system, and determines the accuracy of missile to a great extent. The guided projectile mainly adopts brushless DC permanent magnet servo actuator as the rudder control unit, rotating brushless DC servo steering gear shaft driven mainly rely on the vane rotation, to achieve a predetermined rotation angle. A servo system with low volume, low quality, high speed, high torque characteristics. Has good control accuracy, but also has strong nonlinearity and degeneration, so based on the control technology of servo control system in nowadays The hot social research. This paper uses gas rudder system as the research object, hardware and software of control system and control algorithm of DC brushless servo motor is studied, the main work and research results are as follows: (1) the structure characteristics of DC brushless servo actuator system, special operation and control principle are analyzed. Selected Dynamixel series brushless DC servo motor as the research object of this paper, the steering gear parameters based on the structure principle analysis and transfer function is derived, and based on Matlab, established the mathematical model of the actuator, the actuator parameters influence analysis and determines the basic mathematical structure of the actuator (2) and design. Manufacture of the ARM development board based on LPC2292 chip, Protel software from the PWM module based on ARM board, A/D conversion module, the module design of power module, on the basis of selection The conductive plastic potentiometer as the actuator position detection device, designed and completed the hardware and software of the position detection feedback based on the design and installation of components of gas rudder system. The hardware experimental platform of servo control system in the four tab rudder system on the basis of experiments proved that the rotor position detection and ARM board successfully completed the closed-loop control of gas rudder control. (3) rudder servo system hardware platform was built in this paper based on the simulation test with the traditional PI, the experimental results obtained with the overshoot, response time is slow. On the basis of introducing the adaptive fuzzy theory and fuzzy theory analysis, design the adaptive fuzzy PI algorithm PI, the fuzzy modeling and control program of Matlab is written. The fuzzy control PI algorithm this paper build the hardware platform and based on the adaptive of rudder machine system The analysis of simulation and experiment, the response status for load and no-load steering system were studied respectively from the given sinusoidal and step signal tracking ability of simulation analysis and experiments, the control effect, the comparison of the traditional PI and adaptive fuzzy PI for servo system. The results show that the rise time from adjust the time, overshoot, control effect of adaptive fuzzy PI controller designed in this paper are better than traditional PI control.

【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TJ765

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