摘要
提出了一种基于TMS320F2812的单框架控制力矩陀螺外框架全数字伺服系统,通过分析控制性能的要求,确定带有电流环、速度环和位置环的三环控制方案,通过对三环的作用进行研究,应用工程化的频域设计方法设计电流环和速度环,给出位置环数字PID控制的改进方案;系统实现了低速高精度稳速控制,与模拟系统相比,控制算法更加方便,大大降低了功耗;在不同速度范围内对三环控制进行仿真和样机调试,结果表明该系统能够很好地实现框架高精度控制。
A digital servo system for single gimbal control moment gyro （SGCMG） based on TMS320F2812 is proposed. Three loops control scheme consisting of current, velocity and position loop are confirmed for the control performance demands. Then three loops function is analyzed and current loop and velocity loop are designed applying frequency field design. The improved PID control method is also provided in position loop, and at last simulated for different velocity. The system can accomplish speed, high precision and stable speed control of the gimbal. Compared with analog system, the design of control algorithm is more convenient and loss is reduced greatly. The simulation and experiment results of the system show that the system can achieve the high precision control of the SGCMG very well.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第2期349-351,359,共4页
Computer Measurement &Control
基金
国防预研项目
