单轴测试转台控制系统设计机械制造及其自动化专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 Abstract With the research background of single test turntable, this paper study the use of the incremental encoder deeply, as well as the design of the rate, location and swing control system based on the PC/104 to achieve the absolute digital control of the system. Firstly, by the requirements and the actual situation, this turntable system utilized the scheme of fractionizing encoder-signal, generally presenting the mechanical components, control system components and how to choice, and established the relative mathematical model, especially the system drive motors, encoder and power amplifier. Secondly, according to the task of single-axis turntable, this dissertation gives a detailed introduction of the design of control system based on PC/104. By the established model, it also corrects the control system of turntable by PID controllers based on the classical PID control theory. Testing result on the physical system shows that the design can satisfy the criteria in linear and nonlinear range. To meet turntables control precision request of low-speed moving and have upper static and dynamic capability, sufficiently combining neural networks and feedback control respective advantage, a kind of PID controller structure basing on neural networks was being used. With the integration of classical PID controller and neural network, the system not only maintain the simpleness and convenience of traditional PID controller, but also take full use of the adaptive capacity of the neural network in nonlinear and variability system, which supplied a beneficial try for the development of high-performance table. In the end, the realization in engineering of this single test table control system was discussed in this paper, including introduction of hardware components and the achievement of their functions, especially the design of Motor drive circuit and angle measurement circuit. Through theory analysis, computer simulation testing, this paper