单轴稳定平台伺服控制器设计与实现

Design and Realization of Servo Controller for Single-Axis Stabilized Platform

中文关键词:  DSP  稳定平台  伺服控制器  矢量控制

英文关键词:DSP  stabilized platform  servo controller  vector control

中文摘要:

      为快速隔离载体扰动，准确跟踪目标，保证平台相对惯性参考系稳定，设计了以IMU（inertial measurement unit）、编码器和电流传感器的输出值作为反馈，形成了电流环、速度环和位置环的三闭环单轴稳定平台控制系统，控制器以高性能DSP——TMS320LF2812为核心。研究了控制器的基本原理、主要硬件模块及软件设计，介绍了一种改进PID的矢量控制的控制策略。大量试验数据表明，系统具有硬件结构简单、稳定性好、稳态精度高、动态响应快等特点，系统实际运行特性达到了设计指标要求。

英文摘要:

      In order to isolate the disturbance rapidly and track the target,it must ensure stabilized platform steady relative inertial system.A control system is designed with IMU(inertial measurement unit),the encoder and the current sensor output as a feedback to form a current loop,velocity loop and position loop three closed-loop controller for single-axis stabilized platform,whose controller core is a high-performance DSP TMS320LF2812.The basic principle of the controller,the design of main hardware modules and software are illustrated,and a combination of PID control and vector control strategy are presented.A large number of experimental data show that the system has a simple hardware structure,good stability,high accuracy in steady state,fast dynamic response characteristics,which can meet the requirements of the stabilized platform.