Research On The Servo Controller Based On DSP/FPGA

Photoelectric tracking system is a kind of maneuvering target tracking space of the modernization of the measurement and control equipment, with its tracking capture the ability to improve, to its child system-the servo control system control requirements of ability is more significant. Servo tracking system dynamic performance and steady precision decides the tracking accuracy, the digital servo dynamic performance and steady state controller to solve the contradiction between the accuracy of the study of the theory of the practical value and the actual engineering significance.The first part of this artical is the hardware platform and software development system setting up. Analysis of photoelectric tracking servo system of each module in automatic control mathematical model, clear servo controller design of functional requirements, based on the development of DSP/FPGA servo controller hardware platform. And this part including FPFA circuit, power amplifier drive module and so on, the protection circuit, etc. Then this part introduces the software development system, including software design tools and design process.The second part of this artical is the experiment and data processing. For the controlled object (motor and tracking frame) and model identification, the key of this part is making full use of the advantages of digital servo controller, using the frequency domain method to get the exact mathematical model. By the analysis of the speed information and the correction, location information compensation, achieve double closed loop control to study the structure of the loop of bandwidth match the problem, the author puts forward reasonable matching relations, and use inertial components (accelerometer) acquisition feedforward source information, and realizing the feedforward control or equivalent compound control, the feedforward and feedback control technique combining the guarantee of tracking platform high accuracy with stability. Establishing photoelectric theodolite servo system simulation model and comparing the simulation results and experimental data, have been obtained the simulation results and the practical test results consistent effect.Based on the theoretical and experimental analysis, this paper habour the idear that the author aims to improve servo controller software and hardware of the research, and this article provides a powerful boost for achieving the balance of "stability","accuracy" and "speedy".