Development Of Angular Vibration Control System Based On DSP

Dynamic Torque Sensor Calibrator is a device used to calibrate the torque sensor,and angular vibration system provides variable angular acceleration for the calibrator,which is an important part of it.The design of vibration control system directly affects the final overall performance.In this paper,the single-axis angular vibration servo control system is studied.A control board with dual DSPs and CPLD as the core is designed,and the ADRC is introduced to optimize the control system,which improves the steady-state accuracy of the control system and reduces the waveform distortion of sinusoidal vibration.The accuracy of hardware platform will determine the highest accuracy of the whole system.According to the actual needs,the control board is designed.The analog voltage is used as the output control of the system,and the high-precision grating encoder information is collected by CPLD as the feedback of the system.The angular position information of the incremental grating is used to differentiate,and the angular velocity information obtained by this method is greatly error.This paper uses the MT speed measurement method based on the dynamic speed measurement period,and analyzes the performance of the improved speed measurement method.Dual-DSPs respectively refers to master DSP and slave processing DSP,which makes master DSP centralized to complete control-related work,and slave processing DSP to complete network communication between peripheral and host computer.Time-driven and interrupt-driven are used to ensure the periodicity and real-time performance of master-slave DSPs.The flag language of dual-port RAM and mailbox logic are used to complete the transmission of command data between master-slave DSPs.In this paper,the mathematical model of the controlled object is established by theoretical method.Then,aiming at the unknown parameters,the system identification of the controlled object is carried out,and the mathematical model of the controlled object is established by measuring its step response many times.Appropriate control strategy can improve the stability,rapidity and accuracy of the system.In this paper,the ADRC algorithm with strong ability to suppress interference is studied.In view of the shortcomings of too many control parameters,the optimal design of parameter adjustment is carried out.At the same time,the structure of ADRC is optimized and improved according to the system requirements.The optimized controller is simulated with MATLAB,and the excellent effect of the optimized ADRC is verified.Finally,the experimental device of the whole control system is built,the key modules are tested and analyzed,and the whole control system is experimented.Through the analysis of the experimental data,it is verified that the angular vibration control system designed in this paper has a positioning error of less than 8 angular seconds,and a waveform distortion of less than 2% in sinusoidal vibration,which can meet the requirements of various indicators.