基于DSP的随动控制及数据采集系统

发布时间：2018-06-13 06:26

本文选题：随动控制测试系统 + 数据采集系统　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：随动控制系统和数据采集在军用、航空航天和民用领域都占有着越来越重要的地位,随着其数字化和集成化的不断发展,人们对随动控制系统和数据采集的精度、响应速度等方面的性能指标要求的越来越高。希望能够通过随动控制系统使转塔跟踪位置随动指令,并且能对负载实现在线测试。本文围绕着随动控制系统的测试系统和数据采集系统进行研究。随动控制测试和数据采集系统采用TI公司的具有较强浮点运算能力的DSP TMS320F28335芯片作为核心控制器,Altera公司的Cyclone II系列FPGA芯片作为辅助控制器,以满足系统对精度和响应速度等方面的需求。根据系统需求,利用DSP控制芯片、电源模块、W5300以太网模块和CAN通信模块等完成了随动控制系统指令发生器的硬件电路设计;为了保证数据采集部分具有多种信号采集能力,完成了串行总线SCI、SPI以及以AD7176-2模数转换芯片为核心的模拟电路的设计,其中模拟电路的调理电路是采用对模拟信号先放大后衰减的方式,使模数转换器输入端的采样电压幅度最大,进而最大程度地提高信噪比和测量精度;为了实现数字化控制,还针对各个功能模块进行了驱动程序的设计和实现,并通过调试对各个模块的功能进行了验证;为了能够实现远程测试,完成了基于Qt的随动控制测试系统的设计与实现,并利用My SQL作为数据库保存测试信息,采用QCustom Plot开源库进行动态曲线绘图。整个随动控制测试系统通过随动控制测试软件对测试模式进行选择配置,并以UDP的数据包格式将配置下载到随动控制指令发生器中,随动控制指令发生器则根据配置的信息和FPGA产生的时统信号,生成一系列的位置指令,通过CAN总线传输到多轴运动控制器中,并将获得的实际的位置信息与生成的位置指令一同向回传给随动控制测试软件,测试软件则会根据获得的信息绘制测试曲线,方便进行控制跟踪。最后,通过实际的实验,验证了随动控制测试系统的可行性;对于数据采集系统,通过对数据采集得到的数据进行分析拟合并以软件方式进行误差补偿,经验证达到了预期的目的。
[Abstract]:The servo control system and data acquisition are playing a more and more important role in the military, aerospace and civil fields. With the continuous development of their digitization and integration, the accuracy of the servo control system and data acquisition is becoming more and more important. Response speed and other performance requirements are becoming higher and higher. It is hoped that the turret can follow the position order through the servo control system, and the load can be tested online. This paper focuses on the test system and data acquisition system of the servo control system. The servo control test and data acquisition system uses TI's DSP TMS320F28335 chip with strong floating-point operation ability as the core controller and the Cyclone II series FPGA chip of Altera Company as the auxiliary controller. In order to meet the system accuracy and response speed and other requirements. According to the requirement of the system, the hardware circuit of the instruction generator of the servo control system is designed by using DSP control chip, power supply module W5300 Ethernet module and can communication module. The design of the serial bus SCI SPI and the analog circuit based on AD7176-2 A / D conversion chip is completed, in which the conditioning circuit of the analog circuit adopts the mode of amplifying the analog signal first and then attenuating the analog signal. In order to realize the digital control, the driver is designed and implemented for each functional module, which makes the sampling voltage of the input end of the ADC maximum, and improves the signal-to-noise ratio and the measurement accuracy to the greatest extent. The function of each module is verified by debugging. In order to realize the remote test, the design and implementation of the servo control test system based on QT is completed, and the test information is saved with my SQL as the database. QCustom lot open source library was used for dynamic curve drawing. The whole servo control test system selects and configures the test mode through the following control test software, and downloads the configuration to the servo control instruction generator in the form of UDP data packet. According to the configuration information and the timing signal generated by FPGA, the servo control instruction generator generates a series of position instructions, which are transmitted to the multi-axis motion controller via can bus. The actual position information obtained and the generated position instructions are passed back to the following control test software together, and the test software will draw the test curve according to the obtained information, which is convenient for control tracking. Finally, through the actual experiment, the feasibility of the servo control test system is verified. For the data acquisition system, the data collected is analyzed and merged to compensate the error in software. It has been proved that the expected purpose has been achieved.
【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;TP274.2

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