| Under the background of developing a servo control system for vehicle- mounted two axis radar turntable, this thesis firstly introduces a hardware and software design scheme of the servo control system in detail, then pre sents the process of testing the design scheme through simulation, and lastly focuses on studying the control algorithms of the servo control system and the development of the functions of the servo control system. The main work of the thesis are as follows,1. This thesis presents a design scheme of hardware and software based on one DSP+FPGA servo controller. In the section of the hardware design, some main aspects are introduced, including the performances and functions of key chips, the circuit design of controller hardware, the power- up sequences of controllers, and the timing designs of all interfaces. For software design, main presented include the whole software flow and all basic modules, such as initialization module, data transmission module, interrupt control module and servo control module.2. A simulation of the servo control system is analyzed in MATLAB development environment. One speed feedback transfer function is given firstly, then, the simulation designs are carried out for current- loop regulator, speed- loop regulator, and position-loop regulator according to the parameters of devices such as DC motor. Lastly, in order to get a more realistic simulation of real turnstile, this thesis proposes a friction model to simulate the effect of friction in practice. The simulation results confirm the availability of the servo control system’s design scheme.3. This thesis mainly focuses on the control algorithms designing and the specific implementation of system control function. In the control o f position loop, a fuzzy PI control method with self-tuning is designed. Meanwhile, the integral separation and integral relaxation encountering limit methods are utilized in the control of position loop and speed loop. For the aspects of functional realization, through planning velocity for uniform tracking function, the system has a function of start-up and deceleration with constant increasing acceleration; the search scanning function realizes bow liked scan with appointed size of the scanning window in the azimuth and elevation scope of work; with speed feed- forward compensation, the trajectory tracking function makes the dynamic error very small in the operating speed range of the turnstile.4. Performance testing of the servo control system is carried out. With the help of PC test software, lots of test datum are obtained and the results shows that results the basic performance indicators and control functions of the turntable satisfy the requirements.This project has passed the acceptance tests and has been delivered to users. |
