| Oscillating mirror servo system is the key to a scanning type optical remote sensor part,which directly affect the quality of image information acquisition,at present,the oscillating mirror servo system designed by the classical PID control technology has the advantages of low scanning precision,Low frequency,poor linearity of the problem,so this paper proposes an indirect type iterative learning control cascade traditional position,speed,current three closed loop control strategy.In this paper,through the analysis of the principle and composition of the oscillating mirror,the design of the system is completed,and the hardware and software design of the oscillating mirror servo system are completed according to the design parameters.In this paper,by analyzing the composition of the system,the brushless DC motor is chosen as the driving part and the DSP as the core controller,and the sensor of position,velocity and current detection is selected;Iterative learning control algorithm is used to analyze the convergence problem,and based on the advantages of anti integral saturation PID control algorithm and variable speed integral PID control algorithm,an improved PID control algorithm is integrated.Finally,this algorithm is used as the control algorithm of the system.In this paper,the hardware circuit of the oscillating mirror servo system is designed,and it mainly includes: DSP core control circuit,SCI serial communication module,power driven inverter circuit,encoder signal processing circuit and current sampling circuit.Based on the hardware,the software program including PWM generation and updating module,iterative learning control module,three closed loop PID regulation module,orthogonal encoder pulse counting module,motor start and stop module and so on are prepared.Finally,LabVIEW for the development of software to write the host computer to achieve the host computer and DSP communication,real-time monitoring system operating conditions.At the end of this paper,the software and hardware are coordinated and tested,and the verification system can run stably and meet the design requirements. |
