摘要本论文以某主动防护系统的伺服平台为研究对象。首先对伺服平台及控制系统进行调研，分析目前国内外各种伺服平台及其控制系统的优缺点。在此基础上，进行平台机械结构和控制系统的设计的探讨。61609

然后根据防护系统的功能要求，设计伺服平台的机械结构，分析其自由度，用MATLAB对设计参数进行优化求解，并选择合理选择驱动元件。同时对平台进行数学建模，计算坐标转换矩阵。

其次，进行控制系统的设计，包括硬件和软件设计。控制器选用协处理器构架，充分发挥DSP(TMS320F28335)的运算能力和CPLD（EPM1270T144）的多接口特点和强逻辑能力。选用高速并行模数转换器进行信号采集，使用光耦阵列将高电压执行区和低电压控制区隔离，通过场效应管阵列将控制信号放大后控制气缸运动。设计原理图和PCB图并制造出控制板。另外编写可在DSP上实现的C语言控制算法和CPLD上使用的VHDL语言。设计并实现DSP与CPLD间通讯协议，和CPLD内的全部模块。

最后进行试验。包括通讯模块试验、数据采样模块试验和控制模块试验。

毕业论文关键词  伺服平台，控制算法，DSP，CPLD，电路图，PCB

毕业设计说明书（论文）外文摘要

Title    The Design of Three-Cylinder Platform Servo Control System                       

Abstract  This article mainly studies on the servo platform of one active-protection system. First, investigation of servo platforms and control systems is done, and the advantages and disadvantages of various servo platforms and control systems at home and abroad are analyzed. Then the design of structure and control system of the servo platform is discussed.

    According to functional requirements of this active-protection system, the mechanical structure of the servo platform is designed, and its degrees of freedom is analyzed, MATLAB is used to carry out the optimization of design parameters, and the reasonable selection of drive element is selected. Also this platform is modeled mathematically, and the transformation matrix is carried out.

    Then the control system is designed, including the hardware and software design. The coprocessor architecture is selected as the controller, making full use of DSP`s (TMS320F28335) computing power and CPLD`s (EPM1270T144) features of multiple interfaces and strong logical ability. High - speed parallel ADC is chosen to sample signal , and arrays of optically coupled isolators are used to isolate high voltage and low voltage control districts, and fets are selected to amplify the control signal to control the moving of the cylinder. Also the schematic and PCB of the control system is designed and then the control board is created. In addition, control algorithm in C language and VHDL language is written which can be run in DSP and CPLD respectively. Communication protocol between DSP and CPLD and all models in CPLD are carried out,too.

    Finally, tests are taken, including test of communication module, data sampling module and control module.

Keywords  Servo platform, Servo platform, Control algorithm, DSP, CPLD, Schematic diagram, PCB

1 绪论 1

1.1 课题研究背景 1

1.2 伺服平台的发展及应用现状 1

1.3 伺服平台控制系统的发展及应用现状 3

1.4 课题来源和论文的主要研究内容 3

1.5 本章小结 4

2 伺服平台机械结构 5

2.1 伺服平台的组成结构及作用