Research And Development Of Vehicle Radar Servo Control System

Based on the development of vehicle radar servo control system,this thesis introduces the design and development of vehicle radar servo control system.According to the system performance and function requirements,the overall design scheme of the servo control system is completed.The thesis describes the hardware circuit design and system software development using DSP+FPGA as the core controller,and studies key technologies such as target tracking technology and compensation technology.Finally,the joint debugging of the servo control system is completed.This thesis mainly completes the following work:1.According to the requirements of the system functions and technical indicators,a vehicle radar servo system based on DSP+FPGA is designed.According to the calculation of load and technical indicators,the selection of the main components of the system is completed.The design of the hardware circuit and the printed circuit board of the control system are completed according to the overall plan.2.The control algorithm of the servo control system is briefly discussed.Based on the related parameters of the components and the system structure,the servo control system model is established.The system simulation is designed by using Simulink tool of the MATLAB.According to adjusting the PID parameters,the performances of the system dynamics and steady-state of the system are analyzed,which provides the theory guidance for the control system design debugging.The method of input feedforward control is used to speed up the system response and reduce the tracking error,and the method is verified by simulation.3.Based on the actual engineering requirements,the key technologies of the vehicle radar servo system are studied.In order to improve the accuracy and reliability of the target tracking,the predictive filtering algorithms are used to determine the status information of the tracking target.The implementation steps of Kalman filtering,extended Kalman filtering and unscented Kalman filtering are introduced.The nonlinear model of the maneuvering target is established.And the simulation analysis and comparison are made between the extended Kalman(EKF)and unscented Kalman filter(UKF)filter algorithms.Then the influence of the attitude of the vehicle body on the radar antenna pointing and the motion of the turntable to the upper turntable is analyzed.The compensation method is analyzed.The rationality of the compensation method is verified by using the Simulink tool of the MATLAB.4.According to the functional requirements of system,the software of the control system is analyzed and the software design of the servo control system is completed.The system software adopts the modularization development idea to realize the design and development of software initialization module,self-checking module,communication module,control algorithm module,etc.5.The servo control system debugging is completed,which mainly includes the debugging of the servo controller and the joint test and debugging of the experimental platform.The functions of servo control system and the verification of the technical indicators are completed.Finally,the attitude of the vehicle body and the motion of the down table are simulated to verify the correctness of the compensation algorithm.