三轴转台控制器的研制-仪器科学与技术专业论文.docxVIP

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 - - II - Abstract The turntable is a sort of important system testing equipment, which is widely applied in the fields of guidance, navigation and space. The demands of turntable controllers are different for the turntables with different behaviors which are applied in different fields. The performance of a controller is important to the whole performance of a turntable. A sort of turntable controller applied in image tracking was developed in this thesis in order to satisfy the control conditions This thesis built the mathematical model of the turntable control according to the classical control theory, and presented a general scheme according to the demands of the turntable. Digital Signals Processor (DSP) was adopted as the controller’s main control unit. Incremental code wheel was used for angle measurement, and digital control arithmetic was used for the control. A sort of RS-422 serial communications unit was developed with FPGA technology for the duplex data communication between the controller and the management computer. And a drive protecting circuit was designed which send a signal to the driver when the turntable is out of control lest the turntable run out of range. A sort of digital control software was developed with changing mode control arithmetic to control the turntable. After finishing the first step debugging, some experiment was done for parameter optimization which satisfied the control demands of the turntable. With LabWindows/CVI development platform, according to standards of software project, a sort of management application software for turntable control was developed, which realized the demands of control, management and state watching. The results of the experiment showed that the precision and dynamic technology index meet the need. Keywords Turntable control; DSP; Serial communication; Controller - - PAGE IV- 目 录 摘 要 I Abstract II 第 1 章 绪论 1 1.1 课题背景 1 1.2 国内外研究与应用现状 1 1.2.1 转台的相关技术