高性能天线伺服控制器的研究与设计

Research and Design of High Performance Antenna Servo Controller

伺服控制器是天线伺服控制系统的核心环节,经典的PID控制算法在整定时整定出的积分环节参数较大,很容易出现积分饱和,造成控制精度的降低;另一方面伺服系统中伺服控制器与主控计算机通过低速的ISA总线进行通信,无法满足控制器进行复杂的位置控制运算所要求的实时大信息量的数据传输。为此提出了伺服控制系统中采用滑模控制算法,减少了外部干扰和内部可变参数对系统的影响,提高了系统的鲁棒性。同时采用PC I总线通信,运用FPGA实现设计,数据通信能力显著提高。实验结果表明,采用该算法可以有效地避免了积分饱和所造成的控制精度降低,加快了系统响应速度,提高了伺服控制器的控制性能。

Servo controller is key part of antenna control system, In some servo controller, classic PID control algorithm is adopted. In order to improve precision of control system, the integral parameter has been turned too big to use because it will cause integral saturation which depress system performance. On the other hand, ISA bus is used to communicate between servo controller and main computer. ISA is low speed interface protocol, it cannot provide more data for complicated real time position control in servo controller. So it also limits the performance of servo control. A servo controller which uses PCI bus to transfer data in antenna servo control system by using FPGA is designed. At the same time, a compound control algorithm with PID and feed-forward control algorithm is used in servo controller, Experimental results indicate integral parameter could be turned far smaller than former, Integral saturation can be avoided effectively. So the algorithm can accelerate response time and enhance the performance of antenna control system.