一种电动执行器控制系统设计与应用

摘要

针对电动执行器的速度、位置控制问题,提出了一种基于数字信号处理器TMS320F2812的电动执行器控制系统.硬件方面,基于专用控制芯片PMM8713PT设计了步进电机驱动电路;结合CAN控制器SJA1000和驱动器82C250设计了CAN总线电路;利用霍尔传感器和光电编码器实现了电机速度、位置的检测.软件方面,介绍了控制系统主程序,提出了一种基于积分分离PID算法的步进电机速度和位置控制方法.以电动执行器轨迹跟踪为例,展开应用研究.实际轨迹和给定轨迹基本吻合,实验结果验证了所述基于DSP的电动执行器控制系统的可行性和有效性.%In order to solve the velocity and position control problem of electric actuators, a kind of control system was put forward based on digital signal processor TMS320F2812.On the hardware side, the stepping motor drive circuit was designed based on the special control chip PMM8713PT.Combining with the CAN controller SJA1000 and driver 82C250, the CAN bus circuit was designed.The motor speed and position detection were realized by using hall sensors and photoelectric encoder.On the software side, firstly, the main control program was introduced, then a speed and position control method based on integral separation PID algorithm was put forward.An application research was carried on with electric actuators trajectory tracking as example.The actual trajectory and given trajectory were roughly coinside.The experimental results show that the electric actuator control system based on DSP described in this paper has good feasibility and effectiveness.