基于单片机的变惯量智能伺服控制系统设计  

Variable Inertia Intelligent Servo Control System Based on Single-Chip Microcomputer

作　　者：李爱莲[1] 刘伟松[1] 

机构地区：[1]内蒙古科技大学信息工程学院,内蒙古包头014010

出　　处：《计算机测量与控制》2014年第2期417-420,共4页Computer Measurement &Control

基　　金：内蒙古科技大学创新基金资助项目(2011NCL021);内蒙古自然科学基金资助项目(2012MS0911)

摘　　要：针对军工企业装弹机装填炮弹种类增多的需求所导致的装弹机伺服控制系统转动惯量的变化，如仍采用经典PID控制方式，则会使系统性能下降，甚至失稳；为解决转动惯量的变化带来的控制问题，结合常规PID和神经网络技术设计了位置环的单神经元自适应PID控制算法，并进行了仿真研究；论文给出了控制系统的总体设计方案，进行了系统软硬件的具体设计与工程实现；设计选用基于电机专用数字信号控制器dsPIC30F6010A为整个硬件系统的核心，系统采用电流环、速度环、位置环三闭环结构，由DSC主电路、IPM电路、外围电路、信号检测及保护等电路组成；硬件系统还具备过压保护、过流保护、漏电流检测等能够增强系统可靠性的功能；仿真结果表明，单神经元自适应PID控制能够很好的适应转动惯量的变化，改善了系统的动态性能；经现场试验，装弹机协调器适应多种弹种的切换（炮弹质量在30~45kg），定位精度小于土3mm，调节时间小于150ms。启动和停止时无超调现象，有效解决了军工实际问题。For military enterprise loading artillery autoloader species increased, caused by the moment of inertia of servo control system of autoloader changes, the classical PID control method can make the system performance degradation, and even instability. To solve the problem of the evolvement of the moment of inertia control, combined with the conventional PID and neural network technology to design the position loop of single neuron adaptive PID control algorithm, a simulation study was carried out. Paper presents a general design scheme of the control system, has carried on the system hardware and software detailed design and engineering implementation. DsPIC30F6010A design is chosen based on motor special--purpose digital signal controller as the core of the whole hardware system, the system USES the current loop, speed loop and position loop, three closed loop structure, the DSC circuit, IPM circuit and peripheral circuit, signal detection and pro- tection circuit. Hardware system with over--voltage protection, over--current protection, and also can enhance the reliability of the system functions such as leakage current test. Simulation results show that the single neuron adaptive PID control can be very good to adapt to the changes in the moment of inertia, to improve the dynamic performance of the system. By the field test, Loader Coordinator adapts to change a variety of shell type （shell quality in 30-45 kg）, positioning accuracy is not more than ±3 mm, adjust time less than 150 ms, start and stop when no overshoot phenomenon, effective military practical problems are solved.

关 键 词：变惯量 单片机 单神经元 自适应控制 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]