基于VxWorks系统的高空气球吊篮反捻控制器  

Controller of anti-twisting mechanism in high altitude balloon's nacelle based on VxWorks RTOS

作　　者：于伟[1] 毛耀[2,3] 肖靖[1] 邓超[2,3] 耿夫利[1] YU Wei;MAO Yao;XIAO Jing;DENG Chao;GENG Fuli(Fundamental Department, Airforce Logistic College, Xuzhou, Jiangsu 221000, China;The First Laboratory, Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu 610209, China;The Key Lab of Optical Engineering, Chinese Academy of Sciences, Chengdu 610209, China)

机构地区：[1]空军勤务学院基础部,江苏徐州221000 [2]中国科学院光电技术研究所一室,成都610209 [3]中国科学院光束控制重点实验室,成都610209

出　　处：《计算机工程与应用》2016年第22期266-270,共5页Computer Engineering and Applications

基　　金：中国科学院光束控制重点实验室基金(No.2014LBC006)

摘　　要：为保证加挂大惯量负载情况下高空气球吊篮反捻机构能够正常工作,对Vx Works实时操作系统在反捻机构控制器中的应用进行了工程实践验证。对Vx Works实时操作系统进行剪裁以提高系统的安全性和可靠性,采用二进制信号量保证用户任务与外部定时中断的同步,采用PI增量式算法设计系统的控制程序。实验中分别模拟气球扰动和负载扰动情况下的反捻机构工作情况,实际解耦效果:扭变片形变角均值0.002 0°,均方差0.001 5°,方位角平均偏差-0.277 3°,均方差0.095 3°,实验证明:提出的基于Vx Works操作系统的控制器采样率高、运算能力强、稳定性强、灵活性高能够适应反捻系统工作要求。For the sake of normal operation of the anti-twisting mechanism in a high attitude ballooned nacelle with largeinertial loading, application of VxWorks real-time operating system in the anti-twisting mechanism’s controller is verifiedfrom the engineering practice point of view. In this study, the customized VxWorks real-time operating system is appliedto improve safety and reliability of the system; the binary signal is used to synchronize user tasks with external timer interruptionsand the control program of the system is designed with the PI incremental algorithm. In the experiment, the operationcondition of the anti-twisting mechanism is simulated under balloon disturbance and load disturbance. The actual decouplingresult is stated as follows:the average angular deformation of the distortion slice is 0.002 0°and the mean squareerror is 0.0015°; the average deviation at the azimuth angle is -0.2773°and the mean square error is 0.0953°. The experimentshows that the controller proposed in this study based on the VxWorks operating system has a high sampling rate,strong computing capability and stability, high flexibility, and it can be applicable to requirements of the anti-twisting system.

关 键 词：气球吊篮 反捻机构 VXWORKS实时操作系统 

分 类 号：TM383.6[电气工程—电机]