Development Of Measurement And Adjustment Software Platform For Motor Drive And Control System

The topic of this thesis is derived for the actual needs of an X-band radar two-axis servo system development project.The test and debugging of the radar servo system driver and controller is a very important part of the whole system developing process,which affects whether the servo system can be smoothly applied.In this paper,we developed a software platform for the corresponding test and adjustment of radar servo system drivers and controllers.Firstly,according to the functional requirements and performance index requirements of the radar servo system development project,the overall scheme for the development of the driver and controller software platform is developed.It includ selecting the development platform and communication interface,formulating the communication protocol,the overall interface planning of the software,and the partitioning of functional modules.Secondly,the driver software platform is developed for serial communication and data transmission,drive-operation-status monitoring,driver-functional setting and parameter configuration.Besides,it can also be used to current loop and speed loop frequency domain response debugging.In order to realize the automatic adjustment of current loop control parameters,we adopted a model-based PID self-tuning method.In the realization process,the research and modeling of the brushless DC motor for the control of the servo system are carried out,and the model and system identification of the motion control current loop is carried out.Finally,the current loop PID parameters are self-tuned through the relevant tuning rules.Then,the controller software platform is developed to reveal the simulation and delivery of the two-axis turntable gaze,search,sector,look-around,follow-up functions;the reception,analysis and real-time display of the state feedback information.Besides,it can also be employed to control parameter setting and reading;testing of performance indicators such as speed loop and position loop frequency response,tracking accuracy,step response,etc.In order to reach accurate and high-speed continuous delivery of data,this paper uses multithreading technologies to serialize the packaged data,and accurately determine the data transmission frequency by using precise timing function.Finally,the developed software platform is used in conjunction with the entire radar servo system to verify the function of the measurement and control software and improve it.