海流传感器标定装置运动控制系统设计

发布时间：2018-05-19 15:17

本文选题：传感器标定 + 伺服电机　；参考：《合肥工业大学》2017年硕士论文

【摘要】：海洋资源丰富,在人类社会迅速发展,陆地资源日益紧张的前提下,海洋资源资源开发已经被视为社会经济发展的重要动力。我国明确提出“海洋强国战略”,海洋开发对于我国现代化建设具有着重要意义。在海洋开发中,海洋观测技术是开展海洋科学研究的基础手段,其中海流测量亦是核心关键技术。针对微弱上升流测量难题,课题组在国家自然科学基金的资助下研制了一种新型三维海流传感器。为实现对该传感器的标定,基于相对运动转化原理设计海流传感器标定装置,本文主要设计海流传感器标定装置的运动控制系统。首先通过分析海流传感器标定需求,确定标定装置的功能要求与性能指标,提出标定装置的总体设计方案。分别在X、Y、Z三轴方向布置单轴进给系统,采用伺服电机+滚珠丝杠+直线导轨的传动形式实现标定装置的水平运动与上升运动。选用DSP芯片TMS320F28335作为控制系统核心处理器,设计D/A转换、脉冲信号处理和串口通信等功能模块电路,构成DSP运动控制器。针对标定装置速度平稳性和定位精度的实际要求,在单轴方向运动过程中,以伺服电机速度模式为内环,设计速度外环与位置外环相切换的控制方式,实现全闭环控制。速度外环采用经典的PID控制,位置外环采用滑模变结构控制。在TI公司提供的CCS集成开发环境下编写DSP程序代码,基于Labview软件平台完成控制系统上位机的开发。最后对系统进行性能检测试验,包括硬件电路功能检测、控制系统运行测试、速度精度实验以及定位精度实验。实验结果表明运动控制系统达到性能要求,标定装置可实现对新型海流传感器的标定。
[Abstract]:With the rapid development of human society and the increasing shortage of land resources, the exploitation of marine resources has been regarded as an important driving force for social and economic development. China has put forward the "strategy of ocean power", and ocean development is of great significance to the modernization of our country. Ocean observation technology is the basic method to carry out marine scientific research in marine development, and current measurement is also the key technology. In order to solve the problem of weak upwelling measurement, a new three-dimensional current sensor was developed with the aid of the National Natural Science Foundation of China. In order to realize the calibration of the sensor, the calibration device of the current sensor is designed based on the principle of relative motion transformation. The motion control system of the calibration device of the current sensor is designed in this paper. Firstly, by analyzing the calibration requirements of ocean current sensor, the functional requirements and performance indexes of the calibration device are determined, and the overall design scheme of the calibration device is proposed. The single-axis feed system is arranged in the three axis direction of XNY Z, and the horizontal movement and the rising motion of the calibration device are realized by using the drive form of the linear guide rail of the ball screw of the servo motor. The DSP chip TMS320F28335 is selected as the core processor of the control system. The function modules such as D / A conversion, pulse signal processing and serial port communication are designed to form the DSP motion controller. According to the requirements of the speed stability and positioning accuracy of the calibration device, in the process of uniaxial movement, the speed mode of servo motor is used as the inner loop, and the control mode of switching between the speed outer loop and the position outer loop is designed to realize the full closed loop control. The velocity outer loop is controlled by classical PID and the position outer loop by sliding mode variable structure control. In the CCS integrated development environment provided by TI company, the DSP program code is written, and the host computer of the control system is developed based on the Labview software platform. Finally, the performance test of the system is carried out, including hardware circuit function test, control system running test, speed precision experiment and positioning precision experiment. The experimental results show that the motion control system meets the performance requirements and the calibration device can realize the calibration of the new current sensor.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212;TP273

【参考文献】