Based on a certain type of launcher DSP servo system developed
|School||Nanjing University of Technology and Engineering|
|Course||Control Theory and Control Engineering|
|Keywords||digital servo system intelligent PID algorithm forward-feedback compensate compound control|
By the rapid development of computer technology and AC motor timing technology, modern digital servo system has been changed a lot. New control algorithm and timing method have been used in modern servo system, making them small, intelligent, high-speed and accurate. Main task of this paper is to design a sevro system for a launcher.The control object of servo system in this paper has great inertia; meanwhile high accuracy and response speed are required. According to the system requirement, a big power driver is choosen as executer. The AC motor makes the launcher work, combining with its power supply and power reducer. High accurate double channels rotary transformer is the position detecter of the launcher, feeding back the position information of the closed-loop control system. Because the great calculation speed and ability in complex algorithm, DSP chip is the information disposal center in the servo card. Servo card receives target position information, samples the launcher position, calculates control value, sends it to motor driver, and then makes the launcher work under control.Control program is storaged in DSP, including signal acquisition, transmission, data disposal and calculation of control value. Signal acquisition and transmission exchanges information with control computer, and receives true position information. Algorithm calculates control variable, after data disposal part obtained and filtered the real information. Because of the great load inertia, high accuracy and speed, traditional PID algorithm does not work well. In order to realize the performance required, the compound algorithm is used, which made up of intelligent PID and forward-feedback compensation algorithm Servo system has got a satisfied performance under typical signal.After installation and debugging, the performance of servo system satisfied and exceeded the technice indexes. The servo system is successful.