一种对日跟踪伺服控制系统的设计

发布时间：2018-03-05 10:59

本文选题：拉格朗日插值　切入点：光电传感器　出处：《长春工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着我国社会的快速发展,城市居住人口聚增,楼宇分布越来越密集,人们对于生活环境的采光需求也急剧上升。太阳能作为可再生的清洁能源已经受到世界各国的高度重视和广泛应用,并且能满足城市居住群体对于生活环境采光的迫切需求。如何解决楼宇背光侧用户对太阳光照的需求成为了主要研究问题之一。本文以解决楼宇背光侧用户对太阳光照的需求为研究目标,设计一种对日跟踪伺服控制系统,解决楼宇背光侧房间采光问题,本文的主要工作内容如下:首先对现有的太阳跟踪策略进行分析,提出视日轨迹跟踪与光电跟踪双模式结合的跟踪策略,实现目标位置用户全天候的太阳光照需求。然后针对视日轨迹跟踪策略在本系统中的具体作用进行分析,提出一种基于拉格朗日插值的视日轨迹跟踪改进算法,以解决系统粗调以及初始定位问题,并通过仿真分析验证了该方法与Spenser计算方法的误差及有效性。其次为实现光电跟踪控制,设计一种光电传感器,通过图像处理实时检测太阳反射光线以实现系统闭环控制,并通过实验分析验证了所设计的光电传感器的有效性。接下来,为保证太阳运动过程中太阳反射光线照射目标位置不变,设计了以模糊PID作为控制算法的双轴伺服跟踪系统,通过仿真分析验证了该方法的有效性。最后结合上述理论搭建了以Raspberry Pi为主控制器的对日跟踪装置,完成系统硬件和软件设计,最后通过系统实验验证了基于拉格朗日插值的视日跟踪轨迹计算方法的可行性、光电传感器检测精度以及双轴伺服跟踪系统硬件平台与程序设计的合理性。
[Abstract]:With the rapid development of our society, the population of urban residents is increasing, and the distribution of buildings is becoming more and more dense. Solar energy, as a renewable and clean energy, has been highly valued and widely used in the world. It is one of the main research problems how to solve the needs of backlit users on the solar lighting. This paper aims to solve the problem of building backlit users to Taitai in order to meet the urgent needs of urban residents for the living environment lighting, and how to solve the needs of the backlit users on the solar lighting has become one of the main research problems. The need for sunlight is the goal of the research. A servo control system for daily tracking is designed to solve the lighting problem in the backlit room of buildings. The main work of this paper is as follows: firstly, the current solar tracking strategy is analyzed. This paper proposes a tracking strategy which combines the two modes of diurnal trajectory tracking and optoelectronic tracking to realize the all-weather sun illumination requirement of the user in the target position, and then analyzes the specific role of the tracking strategy in the system. An improved algorithm based on Lagrange interpolation is proposed to solve the problem of system coarse tuning and initial positioning. The error and validity of this method and Spenser calculation method are verified by simulation analysis. Secondly, a photoelectric sensor is designed to realize photoelectric tracking control, and real-time detection of solar reflected light through image processing is used to realize closed-loop control of the system. The effectiveness of the designed photoelectric sensor is verified by experimental analysis. Then, in order to ensure that the position of the target is unchanged during the solar motion, a two-axis servo tracking system using fuzzy PID as the control algorithm is designed. The effectiveness of the method is verified by simulation analysis. Finally, a day tracking device with Raspberry Pi as the main controller is built, and the hardware and software of the system are designed. Finally, the feasibility of the trajectory calculation method based on Lagrange interpolation, the accuracy of photoelectric sensor detection and the rationality of hardware platform and program design of biaxial servo tracking system are verified by system experiments.
【学位授予单位】：长春工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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