基于RTX的直流电动干扰伺服控制系统  

Interference Servo Control System of DC Motor Based on RTX

作　　者：刘峰[1] 刘忠超[1] 石阁 赵松庆[3] 

机构地区：[1]南阳理工学院,南阳473000 [2]南阳供电公司,南阳473000 [3]中国空空导弹研究院,洛阳471009

出　　处：《微特电机》2015年第6期70-73,82,共5页Small & Special Electrical Machines

摘　　要：介绍了一种采用RTX(real-time extension)实时操作系统内核、运动控制卡、伺服驱动器、光纤卡、直流电动机组成的直流电动干扰伺服控制系统,并给出了控制策略。伺服运动控制的控制模式采用位置环、转速环、电流环构成的三闭环控制系统,将PCI总线的运动控制卡AD8948和PC机结合起来,充分利用PC机的信息处理能力和运动控制卡的运动控制能力。针对Window操作系统实时性较差,引入了RTX,可以有效地解决操作系统实时性问题;针对位置环系统模型不仅具有非线性还具有时变性,采用神经元PID控制算法,不但计算简单,而且实时性容易实现.实验结果表明采用"Windows+RTX"作为软件平台,采用神经元PID作为控制策略,可以实现运动控制器、Windows、RTX相互配合,在Windows操作系统平台下,该干扰伺服控制系统位置跟踪性能比较好。A DC motor disturbance servo control system was introduced and its control strategy was given, which useRTX （real-time extension） real-time operating system kernel, motion control card, servo drives, optical card, DC motor servo control system. The control mode of servo motion control used three closed loop position loop, speed loop, currentloop control system, and the motion control card AD8948 based on the PCI bus with PC machine can make full use of the information processing ability of PC machine and motion control ability of motion control card. Because of the Window oper-ating system real-time relatively is poor, so the RTX was introduced to solve the problem of real-time operating system. Because of the position loop system model, not only has the nonlinear but also has a time-varying, so the neural elementPID control algorithm was adopted which is not only simple but also easy to implement. Experiment results show that the u- sing of ＂Windows ＋ RTX＂ as software platform and neuron PID algorithm as control strategy, may realize better positiontracking performance through the mutual coordination of hardware system, Windows, and RTX in the Windows operating system.

关 键 词：RTX 正弦位置跟踪 实时性能 

分 类 号：TM383.4[电气工程—电机]