| This thesis is localization projects to a certain type of airborne radar turntable development and some of the key components of electrical servo system as the background. The main contents include: 1, according to the principle of servo system,formulate the overall design scheme of the system; 2, to complete the development of the hardware and software of controller and detector; 3, analyze the system, and through system identification, system model is obtained; 4, the introduction of variable structure control strategy to control the system, and the the control effect is verified by computer simulation.After the requirements, performance index, cost and other factors in the comprehensive consideration of the function of the system, confirmed the overall design scheme of the servo control system and the key device: uses the modular design thought,system consists of communication module, control module, a driving module and a detection module of four modules. Among them, the PC as the man-machine interface,communication implementation and control platform; using ARM chip as control core;the executive device MAXON DC servo motor as driving mode; using PWM modulation and sliding mode variable structure control strategy; control structure adopts the position, velocity, current close loop detection circuit, to effectively control system.Then, the hardware and software design of each part of the servo control system development and implementation. The main part of the work are: hardware, introduce a concrete implementation of the system hardware structure, including taking STM32F103 as the core control circuit, driver chip peripheral circuit design, the detection module and decoding circuit and some signal processing circuit; the software aspect, introduced the development of system software and writing, including software development environment and tools, the main program interrupt service subroutine prepared and various preparation etc.The controller design is the premise to construct the mathematical model of the system. After the research of the modeling method of various systems, system identification method is adopted in this system to get the approximate mathematical model of the servo control system. Based on the approximate model is obtained, the design of the servo control system of variable structure adaptive controller based on exponential approach law, and through computer simulation, verify the effectiveness ofthe proposed controller. Then conducts the research to the anti-interference of the system, and through the simulation shows system disturbances in the external disturbance and parameter conditions, can still have good performance, which proves the superiority of the variable structure control. |
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