基于DSP的二轴转台伺服控制系统设计

Two-axis turn table servo control system based on DSP

针对目前网络通信中网线的布置繁冗、维护困难等问题,将二轴转台伺服控制技术应用于网络通信中,进行了二轴转台伺服控制系统硬件及软件的设计。采用"位置+速度"双闭环控制方式,以"TMS320F2812+CPLD"为控制核心进行了系统伺服控制卡的设计,通过选用高集成电机驱动芯片SA57进行了功率驱动卡的设计;通过采用超前-滞后控制算法,利用C和C++语言进行了控制系统的软件程序设计;建立了转台俯仰轴伺服控制系统的数学模型,采用先进的超前-滞后控制器进行了系统的速度环和位置环的校正,在Matlab的Simulink模块中,对系统的速度环及位置环的数学模型进行了数字仿真与分析。研究结果表明,所设计的二轴转台伺服控制系统的响应时间为25 ms,位置跟踪精度在±1″范围内,其跟踪性能完全满足了技术要求。

Aiming at the problems of complex arrangements and difficult maintenance of network cable in the present network communication, two-axis turntable servo control technology was applied in network communication. The hardware and software of the servo control system were designed. The double closed loop control method of ＂position and speed＂ was adopted and the servo control card of the system was designed with ＂TMS320F2812 and CPLD＂ as the core. Highly integrated motor driving chip SA57 was used to design the power driving card. The lead-lag control algorithm was adopted, C and C＋＋ were applied to design software program for the control system. The mathematical model of the servo control system of turntable pitching axis was established. Advanced lead-lag controller was used to compensate the speed and position loop of the system. The system mathematical model of the two loops was numerically simulated and analyzed in the Simulink module of Matlab. The research results indicate that the response time of the designed two-axis turntable servo control system is 25 ms, and the position tracking precision is within ±1. The tracking performance of the system completely meets the technical requirements.