Research And Design Of Servo System For Unmanned Platforms

With the rapid development of science and technology, unmanned platform has been applied to the various regional where humans can not reach or should not survive. To enable the unmanned platforms to complete many complex tasks in these areas, to make the unmanned platform more flexible, more responsive and more intelligent, developing advantageous servo tracking system becomes the most urgent problem. With the rapid development of computer technology and AC motor speed control technology, various of new control methods and speed regulation means can be applied to actual system. Then modern servo system has vaster prospect of development.A kind of servo control system which uses in unmanned platform has been designed and developed in this paper. Having analyzed the systematic population structure and various function indicators, and in accordance to the calculation results of actual parameters, confirmed that the motor is a reasonable choice. Achieved the closed-loop control of the servo system using the high-precision dual-channel autosynchromotor as the location of the detector signal. Completed the design of servo control card which including the DSP minimal systems, rotary encoder module, D/A converter circuit using the TMS320LF2407A as core control chip. Finally completed the electrical connection between the implementing agency, the angle acquainting and encoding devices and the servo-control card, constructed hardware platform for the servo control system.Based on the hardware platform, a kind of control algorithm which combinated subarea PID and compound control is designed in this paper aimed at the concrete performance indicators. And then adjusted the control parameters through experiments, ensured that the systematic function of servo control reaches established requests. Design a new set of communication protocols, to ensure the correction and the synchronization of the communication between the PC and servo control card. In addition, researched a new rotary encoder error detection algorithm, improved the error correction capacity of the system. Finally, accomplished the systematic debugging, have realized the expected performance indicators.