无线高精度角位置跟随监控系统研究  

Research of High Precision and Wireless Angular Position Tracking Control System

作　　者：孙红[1,2,3] 吴钱忠[2,3] 尹鹏鸿[2] 马志杰[2] 蒋辰飞[2] 严锦洲[2] 

机构地区：[1]上海理工大学管理学院,上海200093 [2]上海理工大学光电信息与计算机工程学院,上海200093 [3]上海现代光学系统重点实验室,上海200093

出　　处：《光电工程》2013年第8期7-12,共6页Opto-Electronic Engineering

基　　金：国家自然科学基金项目(61170277);上海市教委科研创新重点项目(12zz137);上海市一流学科建设项目(S1201YLXK)资助;上海市研究生教育创新基金项目(SHGEUSST1301);上海理工大学大文科研究生学术新人培育计划项目资助

摘　　要：为弥补当前位置跟踪系统控制精度不高和有线数据传输的不便,设计了一种高精度无线角位置跟随控制系统。采用多量程高精度L3G4200DH三轴陀螺仪作为角位置传感器,通过2.4G NRF24L01无线射频收发芯片实现数据传输,以ARM Cortex-M3作为微控制器,使用模糊PID全闭环控制算法对伺服电机进行控制,并且加超前校正和前馈环节,改善角度输入响应滞后,从而减小系统的跟随误差。同时采用无线视频模块实时监控伺服电机状态。通过仿真和实验证明,伺服系统在精度和实时性上有了很大提高,动态跟随精度达到了10-3,具有较好的跟随特性,同时无线数据传输方式将给远程控制和特殊作业环境带来极大的便捷。In order to make up for low precision of the current position tracking system and inconvenience of the data cable transmission, a kind of high precision and wireless angular position tracking control system is designed. Multirange and higher accuracy L3G4200DH triaxial gyro as angular position sensor is adopted, the data transmission by 2.4 G NRF24L01 wireless radio frequency transceiver chip is realized, ARM Cortex - M3 as micro controller is used, and servo motor is controlled by fuzzy PID full closed loop control algorithm. Moreover, add advanced correction and feed-forward links to improve response lag of angle input. Consequently, decrease the error of the system. At the same time, the wireless video module is used to monitor servo motor state in real time. The simulation and experimental results prove that the servo system has been improved greatly in accuracy and real time, and the dynamic following error can be up to 10^-3. Furthermore, the system has good following characteristic, meanwhile, wireless data transmission mode will give remote control and special working environment to bring a great convenience

关 键 词：陀螺仪 无线传输 复合控制 误差分析 伺服电机 

分 类 号：V557[航空宇航科学与技术—人机与环境工程]