Study Of The Telescope Turntable Servo Control System Based On ARM And μC/OS-Ⅱ

The large optical telescope is the main facility to observe the goals in the deep sky.When it is working in a condition such as observing and tracing the sky goals, it isdemanded that the turntable should have a high accuracy and real-time property totrack the trajectory of targets.So in this thesis, the servo control system of theTelescope turntable has been studied.The design of the servo controller based onARM7has been described and the μC/OS-Ⅱreal time operating system(RTOS) hasbeen ported to achieve the tasks dividing and scheduling,which can improve thereal-time property and reliability of the system and the maintenance and upgradebecome easy.Firstly,we describe the important role of the servo control system played on thetracking performance of the Telescope turntable,and describe the research proceedingsof the servo controller as the core of the servo control system.The design of the servocontroller based on ARM7is proposed,including the design of the hardware and theestablish of the software platform.Secondly,we decribe the hardware design of the servo controller in detail.Thehardware of the servo controller uses the “core board-bottom board”design,andcompletes the circuit design on the bottom board.The circuit schematic diagram of thefunction module are gived and the working mechanism are described. Thirdly, the μC/OS-Ⅱreal time operating system ported to ARM is achieved, andmaking the RTOS as the software platform to achieve the program writting of thetasks,including the task of data receiving,task of data processing,task of motorcontrolling,task of data transmitting and task of LCD displaying.The priority of tasksare allocated according to the tasks criticality and urgency,and working under thescheduling of operating system,which can satisfy the requirements of the highreal-time property and reliability of servo control system.Finally,the PID control of the turntable is achieved on the hardware platform.Atthe same time,we analysis the simulation results of the algorithm of PID control andthe algorithm of single neuron adaptive PID control.The results show that thealgorithm of single neuron adaptive PID control has a better performance than that ofthe algorithm of PID control by on-line and real-time tuning parameters,so we canreplace the algorithm of the traditional PID control with the algorithm of singleneuron adaptive PID control.