基于VxWorks操作系统的某随动系统控制算法软件设计与实现

Design and Implementation of a Servo System Control Algorithm Software Program Based on the VxWorks Operating System

针对某倾斜瞄准式装置具有大质量大惯量且非线性的特点,以军用加固计算机作为控制系统的硬件平台、嵌入式操作系统VxWorks为软件平台设计了一种零-极点对消自校正PID控制器。在对自校正PID控制器从原理、设计方法上进行详细说明的基础上,对某装置的随动系统进行了控制器设计,利用零-极点对消的原理计算了3种工况下的PID控制参数,通过满载、半满载和空载工况试验,结果表明采用该控制算法具有控制量小、鲁棒性强的特点,适合于最小相位系统,系统在稳定性和快速性方面都取得良好的控制效果,适用于变质量变负载装置的随动控制系统。

A pole-zero cancellation self-tuning PID controller was designed for a tilt aiming launcher featuring big mass,large inertia and nonlinearity.A military grade rugged laptop served as the hardware platform while VxWorks,an embedded operating system was used as the software platform.A detailed explanation was given concerning the principles and design methods of self-tuning PID controllers,based on which the servo system controller of the launcher was designed.Parameters under three working conditions were calculated and defined using the principle of pole-zero cancellation.Results of full,half and empty-load condition tests showed that the control algorithm required only a small control quantity and demonstrated strong robustness,which is suitable for minimum phase systems.The system showed good control effects in terms of stability and rapidity.It works well for servo controls of va-riable mass and load systems.