dsp直流伺服电机论文.doc

摘要
本文的工作是基于DSP的机载雷达转台伺服系统电气部分的研发及其关键部件的国产化。主要内容有以下几点:1制定基于DSP的伺服系统电气部分的总体设计方案;2确定控制策略;3系统的软硬件开发;4通过辨识得到系统的数学模型,用灵敏度工具分析并设计控制系统。
伺服系统电气部分的控制器以DSP芯片TMS320F2812为核心,采用电流和速度双回路控制结构,每个回路都采用经典PID控制算法。驱动器由直流电机功率放大芯片以及本文设计的外围电路构成。驱动器接收DSP控制器产生的脉宽调制信号,使用单极性工作方式来驱动直流电机。速度检测使用的传感器为增量式光电编码器,DSP的QEP模块采集光电编码器输出的相位编码信号并在DSP中进行速度解码。电流检测使用的传感器为采样电阻,将采样电阻上的电压信号经过处理后输入到DSP的A/D采样端口获取电流信息。保护功能包括过热保护、过电流保护和光耦隔离。DSP控制器使用RS232通信协议和上位PC机进行通信,上位机向DSP控制器发送操作指令和参考速度给定指令;DSP控制器接收上位机发送的指令信息和检测模块反馈的信息后按照既定的算法运算并输出控制信号。
在转台伺服系统的实际运行中,一些不确定性的扰动因素会对其性能造成影响。本文针对负载干扰和测量噪声,通过辨识方法得到伺服系统的数学模型,在此基础上对系统进行灵敏度分析,研究它们对系统输出的影响。设计并改进原有的PID控制器,在其后串入滤波网络,增强伺服系统对负载干扰和测量噪声的抑制能力。
在上述工作的基础上,对伺服系统进行了软、硬件调试,调整控制参数。经过运行测试,伺服系统能够正常工作并且与上位机通信正常。
关键词:PID伺服控制 DSP 灵敏度辨识直流电机

Abstract
This thesis studies and develops the electronic and electrical parts of an airborne radar servo system based on DSP and its key parts’ homebred change. The main content includes:1,The system's overall design based on DSP; 2,The determination of the control strategy; 3,The design of system software and hardware; 4,Identification of system model and Analysis and design of the control system based on the theory of sensitivity.
The electrical parts of airborne radar servo system adopts TMS320F2812 DSP chip as the control Core of controller module and is designed as speed and current dual closed loops which are based on the PID control algorithm. Drive module posed of DC power amplifier chip and peripheral circuit designed in this thesis. Drive module receives pulse width modulation signals and drives dc motor by Single polarity working way. Photoelectric coder is used for speed ​​detection and QEP module receives phase encoding signals of photoelectric coder which are decoded in DSP. The current is detected by sampling resistor and the voltage signal on the sampling resistor is inputted to the A / D sampling port of DSP for obtaining current information after amplification processing. The protective functions include thermal protection, ove