Study Design And Control Algorithms Launchers Servo System

Servo system plays an important role in modern society and is widely used in many society fields, like industrial, military, aerospace, etc. It also promotes the great progress of modern industry and agriculture, and improves the production efficiency and quality hugely. This research comes from one special practical project, which is cooperated with a domestic aerospace research institute, and of which the task is to develope the servo control system.This thesis has accomplished the position servo system based on TMS320F28335DSP chip, and completed the hardware and software designs and their debugging. With regard to the control system with great inertia, the vertical system with new electric cylinder structures, and the demands of high accuracy and response speed, this thesis has made great efforts to solve those practical problems as follows.First of all. the overall scheme is designed, that is, the servo system using AC permanent magnet synclironous motor. As for the problem that the gravity center of the vertical system shifts dynamically, the electric cylinder is utilized as the actuator; the required power and loads of the actuated motor and electric cylinder is calculated with a certain margin; and the appropriate executive body is determined.Secondly, before carrying out the actual work, two models of the horizontal and vertical systems are theoretically developed to eliminate possible defects and guarantee that this scheme is feasible. Moreover, the related control algorithm is analyzed carefully, and the performance of the system proposed is estimated by model simulations.Next, both the software and hardware of the servo system are designed. In order to improve the control effect, the TMS320F28335DSP is selected as the control chip, which has strong computing power; the DA conversion unit with high precision and the position feedback unit and other functional devices are adopted. For that both the stability, reliability and transmission frequency of the target signal and the feedback signal and the control algorithm have great impacts on the control performance. CAN bus is used to guarantee the communication quality, while the PID control algorithm with feed-forward compensating is applied to greatly reduce the error.Then, the production of hardware board, the assembly of mechanism and devices, and the debugging of software are accomplished. And the debugging results show that the system proposed meets the requirement of the practical application. Finally, according to the problem that the conventional PID algorithm cannot catch up with the dynamic changes of inertia load in the actual debugging process, a fuzzy PID controller with feed-forward compensation is designed and simulated in detail, achieving better results, which will be verified and applied in engineering applications in the future.