空间伺服扫描机构驱动控制技术研究

Research on Driving Control Technology of Space Scanning Mechanism

针对空间扫描机构在整个观测任务过程要求运行周期准确,有效观测区间内速度匀速的控制要求,本文开展了扫描机构驱动控制系统的硬件设计、软件设计以及算法设计。为缩小控制器体积,降低系统成本,提出了一种基于DSP芯片的BISS协议解码的系统方案,从而将光栅尺输出的BISS协议码与电机的控制算法共同集中到一块MCU处理。根据扫描机构不同的扫描方式,研究了系统速度和位置路径规划算法。通过实验测试发现,系统速度控制精度在1%以内,定位精度在0.02°以内,整个扫描周期控制误差在3 ms左右,表明所设计的系统及算法能够满足空间扫描任务对伺服驱动机构的要求。

To satisfy the control requirements that the space scanning mechanism requires accurate operation cycle and uniform speed in the whole observation task process,this paper carried out the hardware design,software design and algorithm design of the drive control system in scanning mechanism.In order to reduce the volume and cost of the controller,a system scheme of BISS protocol decoding based on DSP chip was proposed,so that the BISS protocol code and the motor control algorithm were concentrated in one MCU.According to different scanning modes of scanning mechanism,the system speed and position path planning algorithm were studied.Through the experimental test,it is found that the speed control accuracy of the system is less than 1%,the positioning accuracy is less than 0.02 °,and the control error of the whole scanning cycle is about 3 ms,which shows that the designed system and algorithm can meet the requirements of spatial scanning task for servo drive mechanism.