直流电机型力促动器的控制系统设计

Design of force actuator control system based on DC motor

设计了一种基于直流电机驱动的力促动器控制系统,并进行了检测。该系统以TMS320F2812为控制核心,通过高精度模数转换芯片AD7656采集传感器LoadCell输出的力信号,通过DAC7744输出模拟控制信号给电机驱动芯片OPA548驱动直流电机转动;该系统采用双闭环控制策略,其中,内环电流环采用PI控制器,并基于模拟硬件电路实现,外环力控制环采用自抗扰控制算法,在DSP内通过软件实现,给出了软件算法实现的流程,及参数整定方法。实际测试结果表明:该控制系统具有良好的响应特性,抗干扰能力强,稳态精度高,在±100 N测量行程内,10 min的稳态精度优于20 mN,并且电控系统具有很小的发热量,满足主动光学实验系统的要求。

A control system for the force actuator based on DC motor is designed and tested. TMS320F2812 is taken as the control core. The force signal is acquired by the LoadCell sensor, and then converted to digital signal by AD7656. DC motor is driven by the OPA548 using high-precision digital-analog conversion chip DAC7744. Doub- le-loop control strategy is constructed. A PI controller is adopted in the inner current loop based on the analog hard- ware circuit, and the active disturbance rejection control algorithm in the outer force loop is implemented in the DSP software. The algorithm process and parameter tuning method are given. The experimental results show that the control system has good response characteristic, strong anti-disturbance ability and high steady accuracy. The steady state accuracy is better than 20 mN in measurement stroke ± 100 N within 10 minutes. The hardware has low heat emission. The control system can meet the requirement of active optics experiment system.