Research On The Servo Tracking System Of Dual-target Of 3-DOF

Dynamic performance of self-propelled artillery and other weaponry is one of the most important tactical and technical indicators in range identification experiment and stereotypes assessment system.Therefore,the dynamic stability precision is essential test session for the research,production and testing of the weapons.The dynamic stable precision testing methods based on the CCD and dual-target,can effectively eliminate the translation amounts of the barrel and retain only the amount of rotation in the simulation,improved the testing range and accuracy of the artillery.Thus,this thesis studies the AC servo control strategies which could be used in the self-propelled artillery servo systems,and focus on the ADRC(Active Disturbance Rejection Control)method,so that the problem of time-varying load due to the internal and external disturbances such as the nonlinear friction could be solved and a fast and high precision request could be reached.Firstly,according to the requirement of the system performance index,the selection of the key components of the system is completed,and the platform of the servo system is set up.And then establish the model of ball screw drive mechanism and the dynamic model of the servo system,which lays the foundation for the simulation and debugging of the algorithm.Secondly,the hardware and software design of the control system is completed.For the hardware part,design the control system's circuit scheme and PCB,including the DSP28335 minimum system,DA output module,CAN bus module,the location of the signal acquisition module,etc..The software design includes two parts,the controller programming and the host computer programming: program the main program,CAN interrupt service subroutine and timer interrupt service subroutine of the controller in CCS6.1 development environment;use C# language to write the monitoring interface of the host computer in VS2015 development environment,realizing the real-time visual control of the system.Thirdly,on the basis of analyzing the shortcomings of the traditional PID control,the specific method of the auto disturbance rejection control algorithm to overcome the shortcomings of PID is analyzed,and the auto disturbance rejection controller is designed.Then,the paper studies the linear ADRC and proves its stability in light of the problems of too many nonlinear factors and too difficult to set the parametres in ADRC.Last,the design and simulation of the LADRC controller is carried out on MATLAB.The result shows that,compared with PID,the LADRC has better dynamic characters and control effect.Finally,experiments have been done on the dual-target servo tracking system in 3-DOF to test the ADRC's practical effect.Experimental data show that the ADRC controller is able to meet the system's performance indicators,realizing the fast,high-precision tracking control.