Study Of A Servo System Design And Control Algorithms

With the development of science and technology, unmanned platform has been applied rapidly. The unmanned platform that can be used in severe conditions reduces casualties at the maximum extent and has become a research hotspot in many countries recently.This trend puts forward a higher demand of the servo system which plays a very important role in the platform, so it's necessary to study and design the servo system with good performance.This subject derives from one of our school's preliminary research with the purpose of designing a servo control system for an unmanned weapon platform. In order to realize the unmanned platform, the servo control system should receive the signal in real-time transmitted from the video-tracking system and drive the load to track the movement of the target. Main tasks are as follows:1) The servo controller is designed. Firstly, index is given in details and the overall planning is discussed. Having analyzed the functions of the hardware, a servo controller based on TMS320LF2407DSP is designed, including minimum system, communication module, D/A module etc. It receives information with RS485 and adopts the closed-loop solution by means of detecting the load's position using a combination of synchros in two chanles.2) Control algorithm is studied and designed. Firstly, the mathematical model of the system is studied with specific parameters. In view of the non-linear and time-delayed servo system, a control algorithm which is a combination of the Feed-forward and Fuzzy-PID is designed. The curves which are the responses to typical signals and white noise added are given with MATLAB. It shows that the performance of the servo system adopted Fuzzy-PID is improved, especially in dynamic characteristics and control precision.3) The programs of the servo system are designed using CCS. Timer interrupt and SCI interrupt programs are adopted in order to achieve the system's functions.The control algorithm of Fuzzy-PID is applied in the servo control system. Furthermore, the principle of the servo driver of the high-low servo system is studied and analyzed because of the DDR motor adopted. The program of the output control is also designed.Finally, the testing of the servo system driving the load is completely. The performance is also tested with the cooperation of the video tracking system. According to the results of the experiment, the servo system achieves the demands actually.