| Along with the development of technologic, the guns on naval system has been improved its overall combat capability. In order to meet the new situation, selection of ammunition, storage and transition must to be demanded urgently. And the ammunition arsenal can work reliability accurately and rapidly. So the technology of ammunition arsenal is just use of modern information technology,computer technology made up its scientific management system. Through safe management and automatic control, the ammunition arsenal is not only improves efficiency, and no one on guards, but also makes the ware flow and information in step. Does not increase staffing, it can improve guns shoot speed and combat efficiency. As one of the most important subsystems, the transition robot in charge of transportation guns out and in between the storage unit. So it has great significance to study its control system.In this paper , control strategy and control systems has been established, according to the theory of modern ware flow ,which is about mature technology of the automat warehouse. And also the robot's principle and structure has been designed, transmission manner and drive manner have been selected. Through analysis and comparison, DC servo motor drive has been used. The two-class control method has been established, and the TMS320LF2407A DSP has been used as a controller. The double closed-loop servo control system model has been made up based on PID control theory. In SimMechanics of MATLAB environment, transfer robot dynamics model has been establishment. Control model has been established by Simulink, and control parameter has been adjusted. Controller has been designed. Hardware structure and software programming of DC servo control system, which is based on TMS320LF2407A DSP, has been completed. The result of experimentation study, show that the design of circuit can meet the requirement for controlling. And the motor stability and rapid can be used to achieve targets. |
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