摘要
针对机载天线实时跟随头戴设备转动,提出了一种机载伺服系统的控制方案,系统以TMS320F2812 DSP为运算核心,通过RS-485连接绝对值光电编码器代替测速机对转台进行测速,并采用具有退积分饱和功能的数字PID增量型控制算法进行速度闭环控制,使系统具有了很好的动态性能和抗干扰性能。而且针对项目的实际还提出了一种先速度后位置的随动控制策略,经实际验证和测试,取得了很好的应用效果,不仅达到了系统的技术指标而且还提高了系统的鲁棒性。
In order to achieve airborne antenna rotating instantly with headset device, a control scheme of airborne servo system is proposed. TMS320F2812 DSP is the arithmetic core of the proposed scheme. Moreover, in the whole system, an absolute optical encoder, which is connected by RS-485, replaces the tachometer to measure the speed of the rotating platform. Furthermore, because of the closed-loop speed control using the digital incremental PID algorithm with the function of backward integral saturation, the system has good dynamic performance and anti-interference. In addition, considering the actual situation, an servo control scheme in which speed is controlled firstly and position secondly is presented. And the whole scheme not only achieves the technical specifications of the system, but also improves the robustness of it. After the verification and examination of the practice, nice application effectiveness is acquired.
出处
《微型机与应用》
2014年第11期29-30,33,共3页
Microcomputer & Its Applications
