伺服平台的测控系统设计
关键字 稳定平台 二级稳定平台 数字式增量PID控制算法 动静态测试
毕业论文设计说明书外文摘要
Title The Measurement and Control System of Servo Platform Design
Abstract
Stabilized platform is widely used in ships, military and other areas of science and technology, installed in all kinds of sports on the carrier, in order to realize the movement of the carrier and carrier weapon system isolation function. This article is mainly around the level of stabilized platform and secondary mechanical structure of the stabilized platform and stabilized platform control scheme , on the precision of the stabilized platform and the static and dynamic test. In this paper the hardware and the hardware of the stabilized platform was introduced, the perspective of precision design control scheme of stabilized platform is introduced also. This paper aims at introducing digital incremental PID control algorithm is applied to stabilization platform. The performance of the stable platform is mainly embodied in the dynamic and static experiments the accuracy, stability and adjust the time. In this paper, the test parameters corresponding to the precision of the static and dynamic systems in the sports and the precision of the interference conditions are analyzed and summarized, the precision of the two axis were discussed.
Keywords Stable platform; The secondary stabilized platform; Digital incremental PID control algorithm; Dynamic and static test
目次
1 绪论 1
1.1 研究背景及意义 1
1.2 国内外稳定平台系统的研究情况 1
1.3 本文的主要内容 3
2 稳定平台的结构设计 4
2.1 常见稳定平台结构设计方案 4
2.2 一级稳定平台结构设计 5
2.3 二级稳定平台结构设计 5
2.4 二级稳定平台的设计结构介绍 6
3 稳定平台硬件系统 8
3.1 稳定平台的硬件选型 8
3.2 稳定平台传感检测系统 10
3.3 稳定平台动力系统 10
4 稳定平台控制方案 14
4.1 传动系统的控制器的选择 14
4.2 稳定平台的控制类型 14
4.3 数字式PID控制方案 16
5 实验设计与分析 21
5.1 静态实验 21
5.2 动态实验 24
5.3 实验分析 25
结 论 26
致 谢 27
参考文献28
1 绪论
1.1 研究背景及意义
伺服技术即高精度的跟踪与定位技术，广泛用于国防军事装备以及各类产业自动化领域[1]。按照电机来分类，主要有直流伺服系统，交流伺服系统和步进伺服系统三类。随着伺服技术的不断发展，现代化生产规模的不断扩大，各个行业对伺服系统的需求也在与日俱增，伺服系统的性能要求也愈发严格，针对提高伺服系统性能的研究也吸引了越来越多的研究学者。