DSP智能稳定操控系统设计+文献综述

三文稳定平台能够实现隔离载体运动和姿态变化的影响，使平台相对于水平面始终保持水平，并对目标进行跟踪。因而被广泛应用在现代武器装备中。本文主要对三文稳定平台进行简单的结构设计和相应控制方面研究，介绍稳定平台的系统组成和工作原理。所设计的三文稳定平台包括初级稳定平台和精细稳定平台。初级稳定平台具有纵摇、横摇自由度运动。着重分析了螺母丝杠的扭矩和电机的转速功率变化情况，根据平台转动角度范围大小和转动频率确定的所需电机的最大扭矩和转速，来选择相应硬件。开发板选择最新DSP芯片TMS320F28335，采用PID算法去控制伺服电机工作。采用四个加速度计和四个陀螺仪。当平台转过一定角度后，通过相应的算法使电机带动丝杆逆方向运动该角度所对应的位移，直到平台恢复水平。精细稳定平台具有纵摇和旋转两个自由度，其中纵摇系统是由齿轮传动实现的，旋转系统是由蜗轮蜗杆传动实现的。在本文中只进行了总体设计以及电机选型。6832
关键词稳定平台伺服电机 PID控制 DSP
毕业设计说明书（论文）外文摘要
Title The design of the intelligent stability control system
Abstract
The three-dimensional stable platform can isolate the impact of changes from movement and posture, and it can keep level to the earth and track the target, which is widely used in modern weapons.
   This paper focuses on the three-dimensional stable platform for simple structure design and corresponding control research, introduces the stability platform system structure and working principle .The design of the three-dimensional steady platform includes primary stabilization platform and fine stable platform .The primary stability platform has two degrees of freedom from lateral sway and longitudinal shake .It analyzes the changes of the nut screw torque and the motor speed and power. According to the platform rotation angle of the rotation frequency ，it determines the size and scope of the required maximum motor torque and speed ,and selects the appropriate hardware. The latest DSP chip TMS320F28335 is selected as the development board. Choose PID algorithm respectively to control the motor work. When the platform turned to an angle, the motor drives screw to rotate to the reverse direction ，until the platform recovery level .Fine stable platform has two degrees of freedom from longitudinal Shake and rotary ,in which the longitudinal Shake system is composed of gear transmission to realize, rotary system is composed of worm gear and worm drive to achieve. In this paper only carries out overall design and motor selection.
Keywords Stable Platform Stepper motor PID controller DSP
目   次

1绪论1
1.1研究背景及意义1
1.2国内外研究现状2
1.3本文研究主要内容3
2三文两级稳定平台系统的总体设计5
2.1三文两级稳定平台的总体设计5
2.2三文两级稳定平台的工作原理9
2.3三文两级稳定平台系统设计10
2.4本章小结11
3初级稳定平台运动分析12
3.1初级稳定平台受力分析12
3.2初级稳定平台的运动分析16
3.3本章小结16
4三文两级稳定平台系统的硬件设计17
4.1初级稳定平台设计17
4.2精细稳定平台设计20
4.3 传感器的选型27
4.4 DSP的选型28
4.5本章小结28
5初级稳定平台控制系统的软件设计29
5.1 经典PID算法控制29
5.2程序的编写33
5.3 PWM波形的产生35
5.4本章小结35
6实验数据和现象36
结论37
致谢38
参考文献 39
附录A 41
1     绪论
1.1    研究背景及意义                                           DSP智能稳定操控系统设计+文献综述:http://www.youerw.com/jixie/lunwen_4561.html