用于光学通讯的伺服转台控制系统研究

发布时间：2018-05-22 10:44

本文选题：伺服转台 + 数字控制　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着航天航空技术的高速发展,对用于光讯通讯的伺服转台的需求在不断提高。本文以某型用于光学通讯的伺服转台研制为背景,对其控制系统的设计及摩擦补偿技术展开研究,以实现该转台承载的光学相机对空间飞行器的快速高精度跟踪。论文研究工作对抑制摩擦干扰进而提高该类伺服转台的动态跟踪精度具有一定的理论意义和实用价值。论文首先根据动力学方程和电机的电气特性建立了转台的数学模型,该模型同时考虑了摩擦力矩和饱和非线性的影响,并选用Stribeck模型来近似拟合系统摩擦力矩。根据伺服转台的技术指标要求及特点,对控制系统的主要器件进行了选型分析,确定了Stribeck摩擦模型的参数,为后续的研究工作奠定了基础。其次,设计了伺服转台控制系统的整体方案,针对精位置系统在大偏差输入时的条件稳定问题,设计了双回路切换的控制方案。硬件方面,对DSP最小系统、SCI通讯模块、A/D和D/A转换模块以及EPLD模块等硬件电路进行了详细的分解设计;软件方面,先基于古典控制理论和转台的性能要求,设计了转台在不同工作模式下的控制器,并基于双线性变换的离散化方法得到相应的数字控制器,进一步完成了控制系统定时中断程序模块、SCI通讯模块以及其他功能模块的编程,然后进行了系统联调和性能测试,结果达到了任务书的指标要求。最后,针对转台系统中存在的大摩擦力矩干扰,进一步提出了基于模型参考模糊自适应的摩擦补偿方法,并基于所建立的转台方位轴数学模型,对设计的摩擦补偿方法进行了仿真验证。仿真结果表明,该摩擦补偿方法能够有效抑制摩擦干扰的不利影响,显著提高了转台方位轴的低速伺服精度。
[Abstract]:With the rapid development of aerospace technology, the demand for servo turntable for optical communication is increasing. Based on the research and development of a servo turntable for optical communication, the design of its control system and the friction compensation technology are studied in this paper, in order to realize the fast and high precision tracking of the space vehicle by the optical camera carried by the turntable. The research work of this paper has certain theoretical significance and practical value to restrain friction interference and improve the dynamic tracking accuracy of this kind of servo turntable. Firstly, the mathematical model of the turntable is established according to the dynamic equation and the electrical characteristics of the motor. The model takes into account the influence of the friction moment and the saturation nonlinearity, and the Stribeck model is used to approximate the friction moment of the system. According to the technical requirements and characteristics of the servo turntable, the main components of the control system are selected and analyzed, and the parameters of the Stribeck friction model are determined, which lays a foundation for further research work. Secondly, the whole scheme of servo turntable control system is designed, and the control scheme of double loop switching is designed to solve the problem of the stability of precision position system under the condition of large deviation input. In terms of hardware, the hardware circuits of DSP minimum system sci communication module, such as A / D and D / A conversion module and EPLD module, are decomposed and designed in detail. In software, based on the classical control theory and the performance requirements of the turntable, The controller of turntable in different operation mode is designed, and the corresponding digital controller is obtained based on the discretization method of bilinear transformation. Further completed the control system timing interrupt program module sci communication module and other functional modules programming, and then carried out the system reconciliation performance test, the results meet the requirements of the task book. Finally, a new friction compensation method based on fuzzy adaptive model reference is proposed for the large friction moment disturbance in the turntable system, and based on the established mathematical model of the turntable azimuth axis. The designed friction compensation method is verified by simulation. The simulation results show that the friction compensation method can effectively suppress the adverse effects of friction interference and improve the low speed servo accuracy of the azimuth axis of the turntable.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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