| The moving tracking platform, which was primarily used in the military field, has been a hot topic of national research because of its extensive application prospect. With the social progress and the improvement of information technology, tracking platform has been widely used and developed in fire control, communication, monitoring and other civilian areas. In modern society, the requirements of tracking accuracy on the platform is raised, therefore, higher demand on the mobile platform servo system is proposed. This paper is based on the background to design the servo system of vehicle antenna tracking platform, control system is studied based on the Permanent Magnet Synchronous Motor (PMSM).The mathematical model and working principle of the PMSM is described, PMSM vector control principles and techniques is analyzed and researched, a mathematical model of PMSM in d-q coordinates is established. According to the comparative analysis of four different current control methods of PMSM vector control, combined with the control requirements of platform of tracking servo control system to determine the servo system uses id=0rotor field oriented vector control program. The control theory and design principles of position servo system is introduced. Predict control characteristics and the basic method of Generalized Predict Control (GPC) are discussed, Matrix calculation and optimization strategies in the GPC are derived.Based on the theoretical research of first two chapters, the three aspects’ PI regulators of the system are designed, according to the engineering design methods of automatic control system regulator. The CARIMA model of a PMSM is established and the GPC controller of speed loop is achieved.The simulation model of servo control system is established by MATLAB/Simulink. The double closed loop speed control simulation and three-ring position simulation of PMSM are carried through accomplished using the traditional PI regulator. On this basis, a GPC regulator is developed as speed regulator. The analysis showed that the GPC regulator makes the system allows better following performance and disturbance rejection. Finally, the overall design scheme of the tracking platform servo system is discussed, the system’s functional requirements and technical indicators are proposed, and the major hardware components in the system are described. In term of software, the design idea, which contains monitoring software of host and control software of lower computer. After the experimental platform is set up, the static alignment test and dynarnic tracking experiment are carried out. Experimental data shows that the system has good tracking performance and meets the design requirements. |
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