转台控制系统设计与实现及基于神经网络的参数优化

发布时间：2019-06-13 22:20

【摘要】：随着愈来愈多的新型惯性器件的不断涌现和完善,惯性元件精度的检测与标定在导航系统中同样发挥着举足轻重的作用。惯导测试转台作为惯性测试技术的重要组成部分,其定位精度和运行速率精度及平稳性对惯导设备的测试及标定亦发挥重要作用。本文以单轴陀螺测试转台为背景,在深入分析其定位和速率指标要求后,进行了基于PC104的转台位置及速率控制系统的设计,实现了全数字方案的转台控制系统的设计。同时在此基础之上对其控制算法进一步分析设计,以获得更高的控制精度。在设计控制策略之前首先要对转台被控对象进行建模,根据转台的实际运行状态建立相应的模型,为接下来控制算法的设计以及仿真奠定了基础。为使转台兼顾精度的同时获得更快的响应速度,对控制算法分为大偏差和小偏差两部分:大偏差旨在选择的控制器在转台运行过程能够快速且平稳的靠近目标位置。重点部分为小偏差控制器的设计。在调试过程中选择两级超前滞后校正控制器,在此基础上,进一步提出了神经网络优化PID控制参数的方法,使其在控制性能上有所改善,最后进行了仿真研究。本文是以实际工程项目为背景。因此系统的硬件与软件的设计同样占据关键地位。硬件与软件设计的是否正确、合理直接关系到整个系统的控制性能。系统选用研华嵌入式主板PCM3343-PC104,以此为核心设计外围测角系统、数据处理系统、信号处理模块以及通讯系统。其信号处理模块采用EPLD实现以简化电路。软件的设计主要包括控制系统、上位机控制界面和高速串行通讯的设计。控制系统通过定时中断实现1ms采样定时控制,上位机控制界面和高速串行通讯要通过C++和VB同时编程实现。最后完成了系统的调试以及最终调试结果的数据分析和总结。通过对转台进行检测获得的实验数据进行分析、计算,验证了系统的定位精度、速率的精度和平稳性等相关性能指标均能满足用户要求。
[Abstract]:With the continuous emergence and improvement of more and more new inertial devices, the accuracy detection and calibration of inertial components also plays an important role in navigation system. As an important part of inertial testing technology, the positioning accuracy, running rate accuracy and stationarity of inertial navigation test turntable also play an important role in the test and calibration of inertial navigation equipment. In this paper, based on the background of single axis gyro test turntable, after deeply analyzing its positioning and rate index requirements, the position and rate control system of turntable based on PC104 is designed, and the design of turntable control system with all digital scheme is realized. At the same time, on this basis, the control algorithm is further analyzed and designed to obtain higher control accuracy. Before designing the control strategy, the controlled object of the turntable should be modeled, and the corresponding model should be established according to the actual running state of the turntable, which lays the foundation for the design and simulation of the next control algorithm. In order to make the turntable take into account the accuracy and obtain faster response speed, the control algorithm is divided into two parts: large deviation and small deviation: the controller with large deviation can approach the target position quickly and smoothly in the running process of the turntable. The key part is the design of small deviation controller. In the debugging process, the two-stage lead lag correction controller is selected. On this basis, the neural network optimization method of PID control parameters is proposed to improve its control performance. Finally, the simulation research is carried out. This paper is based on the actual engineering project as the background. Therefore, the hardware and software design of the system also occupies a key position. Whether the hardware and software design is correct or not is directly related to the control performance of the whole system. The system selects Yanhua embedded motherboard PCM3343-PC104, as the core to design the peripheral angle measurement system, data processing system, signal processing module and communication system. The signal processing module is implemented by EPLD to simplify the circuit. The design of the software mainly includes the design of control system, upper computer control interface and high speed serial communication. The control system realizes 1ms sampling timing control through timing interrupt, and the upper computer control interface and high speed serial communication should be programmed by C and VB at the same time. Finally, the debugging of the system and the data analysis and summary of the final debugging results are completed. Through the analysis of the experimental data obtained from the turntable detection, it is verified that the positioning accuracy, speed accuracy and stability of the system can meet the requirements of users.
【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;TP183

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