【摘要】：隨著科技的發(fā)展和人們生活水平的提高,越來越多的場(chǎng)合需要一個(gè)非常穩(wěn)定的平臺(tái)環(huán)境,從而降低振動(dòng)對(duì)相關(guān)器件或儀器設(shè)備的干擾。在自然條件下難以獲得理想的穩(wěn)定環(huán)境,因而研究一種高精度、低成本的增穩(wěn)云臺(tái)控制系統(tǒng),具有重要的應(yīng)用價(jià)值。本文以創(chuàng)造穩(wěn)定平臺(tái)為目標(biāo),對(duì)基于ARM的增穩(wěn)云臺(tái)姿態(tài)控制系統(tǒng)進(jìn)行了研究。本文首先討論了云臺(tái)的結(jié)構(gòu)和云臺(tái)穩(wěn)定的物理模型,分析了實(shí)現(xiàn)主動(dòng)消振的工作原理,進(jìn)而構(gòu)建了以Cortex-M3微控制器為主控芯片、MEMS運(yùn)動(dòng)傳感器為云臺(tái)姿態(tài)檢測(cè)單元、永磁同步電機(jī)為動(dòng)作執(zhí)行單元、磁編碼傳感器為電機(jī)轉(zhuǎn)子位置反饋單元等為核心的增穩(wěn)云臺(tái)姿態(tài)控制系統(tǒng),并在此基礎(chǔ)上進(jìn)一步討論了云臺(tái)姿態(tài)解算算法和電機(jī)的磁場(chǎng)定向控制(Field-Oriented-Control)算法。在云臺(tái)姿態(tài)解算中,以三軸加速度計(jì)、三軸陀螺儀組成捷聯(lián)式慣導(dǎo)系統(tǒng),通過計(jì)算姿態(tài)四元數(shù)來提取出歐拉角,具有運(yùn)算量小、檢測(cè)精度高的特點(diǎn)。同時(shí),也研究了如何采用橢圓擬合的算法,通過利用地磁計(jì)來實(shí)現(xiàn)對(duì)航向角的校正,進(jìn)一步保障了云臺(tái)姿態(tài)檢測(cè)的精度。在永磁同步電機(jī)的控制策略上,為實(shí)現(xiàn)轉(zhuǎn)子位置定向控制,研究了基于坐標(biāo)變換及電壓空間矢量控制的磁場(chǎng)定向控制技術(shù)。也研究了非接觸式磁編碼器在測(cè)量電機(jī)轉(zhuǎn)子位置中的應(yīng)用,為實(shí)現(xiàn)電機(jī)的角度、速度、電流閉環(huán)控制提供了保證。與此同時(shí),為了進(jìn)一步簡化電路設(shè)計(jì)、縮小電路板的尺寸,降低云臺(tái)成本,研究了單電阻采樣三相電流重構(gòu)技術(shù)在本系統(tǒng)中的應(yīng)用。在整體設(shè)計(jì)過程中,采用模塊化的設(shè)計(jì)思路,姿態(tài)檢測(cè)及電機(jī)控制單元都采用單獨(dú)的微控制器控制,相互之間通過IIC通訊的方式協(xié)調(diào)動(dòng)作,簡化了系統(tǒng)設(shè)計(jì)難度的同時(shí)也提高了系統(tǒng)的控制精度和穩(wěn)定性。最后采用實(shí)驗(yàn)的方式完成了云臺(tái)姿態(tài)檢測(cè)樣板中MEMS傳感器的初值讀取及姿態(tài)歐拉角的解算,實(shí)現(xiàn)了航向角的校正。并制作了永磁同步電機(jī)的控制器樣機(jī),驗(yàn)證了該系統(tǒng)設(shè)計(jì)的可行性。
[Abstract]:With the development of science and technology and the improvement of people's living standard, more and more occasions need a very stable platform environment, so as to reduce the vibration interference to the relevant devices or equipment. It is difficult to obtain an ideal stable environment under natural conditions, so it is of great value to study a kind of high precision and low cost stabilized cloud head control system. Aiming at creating a stable platform, the attitude control system based on arm is studied in this paper. In this paper, the structure of the cloud head and the physical model of the stability of the cloud head are discussed, and the working principle of the active vibration suppression is analyzed, and then the motion sensor of MEMS based on the Cortex-M3 microcontroller is constructed as the attitude detection unit of the cloud head. The permanent magnet synchronous motor (PMSM) is an action executive unit, the magnetic coding sensor is the rotor position feedback unit of the motor, and the attitude control system of the stabilized cloud head is used as the core. On this basis, the attitude calculation algorithm of cloud head and the Field-Oriented-Control algorithm of motor are discussed. The strapdown inertial navigation system is composed of a three-axis accelerometer and a three-axis gyroscope in the calculation of the attitude of the cloud head. The Euler angle is extracted by calculating the quaternion of the attitude, which has the characteristics of small computation and high detection accuracy. At the same time, how to use the elliptical fitting algorithm to correct the heading angle by using the geomagnetometer is also studied, which further ensures the accuracy of the attitude detection of the cloud head. On the control strategy of permanent magnet synchronous motor (PMSM), in order to realize the rotor position oriented control, the field oriented control technology based on coordinate transformation and voltage space vector control is studied. The application of the non-contact magnetic encoder in measuring the rotor position of the motor is also studied, which provides the guarantee for the closed-loop control of the motor angle, speed and current. At the same time, in order to further simplify the circuit design, reduce the size of the circuit board and reduce the cost of the cloud head, the application of single-resistance sampling three-phase current reconstruction technology in this system is studied. In the whole design process, the modular design idea is adopted, the attitude detection and motor control unit are all controlled by a single microcontroller, and the actions are coordinated by means of IIC communication between each other. The system design difficulty is simplified and the control precision and stability of the system are improved. Finally, the initial value reading of MEMS sensor and the calculation of attitude Euler angle are completed by experiment, and the course angle correction is realized. The controller prototype of permanent magnet synchronous motor (PMSM) is made, and the feasibility of the system is verified.
【學(xué)位授予單位】：湖北工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TM921.5

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