天线双轴稳定平台伺服控制器的设计和实现

摘要

This dissertation completed with the hardware design and software realization of the servo system of the dual -axis stabilized platform on ship,and the control system selected multiple closed-loop PID control method with variable arguments. The DSP and CPLD were sleeted together to complete the control of brushless DC motor,and the duty cycle and the signal of motor control were sent to the CPLD by DSP. After logic operation, CPLD produced PWM wave control signal as output signal according to he three phase hall signals. This control method is to enhance the computing speed, but also greatly reduce the burden of DSP. Hardware design was based on the main control DSP core,including designs of sensor signals collection,data processing and communication module. Software design included the software design of overall servo control system and software design of control algorithm.%完成了天线双轴稳定平台伺服控制系统的硬件设计和软件实现,控制系统采用多闭环的变参数PID控制方案,实现了平台高精度和高可靠性控制.选取DSP和CPLD共同完成对无刷直流电机的控制,DSP将占空比和电机控制信号送至CPLD,CPLD根据三相霍尔信号,通过逻辑运算输出PWM波控制信号.这种控制方式即提高了运算速度,又大大减轻了DSP的负担.硬件设计主要围绕控制核心DSP展开,包括传感器信号的接入,数据处理,以及通信模块设计.软件设计主要包括伺服控制系统总体的软件设计和控制算法的软件设计.