發(fā)布時(shí)間：2018-06-13 06:26

  本文選題：隨動(dòng)控制測(cè)試系統(tǒng) + 數(shù)據(jù)采集系統(tǒng)�。� 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨動(dòng)控制系統(tǒng)和數(shù)據(jù)采集在軍用、航空航天和民用領(lǐng)域都占有著越來(lái)越重要的地位,隨著其數(shù)字化和集成化的不斷發(fā)展,人們對(duì)隨動(dòng)控制系統(tǒng)和數(shù)據(jù)采集的精度、響應(yīng)速度等方面的性能指標(biāo)要求的越來(lái)越高。希望能夠通過(guò)隨動(dòng)控制系統(tǒng)使轉(zhuǎn)塔跟蹤位置隨動(dòng)指令,并且能對(duì)負(fù)載實(shí)現(xiàn)在線(xiàn)測(cè)試。本文圍繞著隨動(dòng)控制系統(tǒng)的測(cè)試系統(tǒng)和數(shù)據(jù)采集系統(tǒng)進(jìn)行研究。隨動(dòng)控制測(cè)試和數(shù)據(jù)采集系統(tǒng)采用TI公司的具有較強(qiáng)浮點(diǎn)運(yùn)算能力的DSP TMS320F28335芯片作為核心控制器,Altera公司的Cyclone II系列FPGA芯片作為輔助控制器,以滿(mǎn)足系統(tǒng)對(duì)精度和響應(yīng)速度等方面的需求。根據(jù)系統(tǒng)需求,利用DSP控制芯片、電源模塊、W5300以太網(wǎng)模塊和CAN通信模塊等完成了隨動(dòng)控制系統(tǒng)指令發(fā)生器的硬件電路設(shè)計(jì);為了保證數(shù)據(jù)采集部分具有多種信號(hào)采集能力,完成了串行總線(xiàn)SCI、SPI以及以AD7176-2模數(shù)轉(zhuǎn)換芯片為核心的模擬電路的設(shè)計(jì),其中模擬電路的調(diào)理電路是采用對(duì)模擬信號(hào)先放大后衰減的方式,使模數(shù)轉(zhuǎn)換器輸入端的采樣電壓幅度最大,進(jìn)而最大程度地提高信噪比和測(cè)量精度;為了實(shí)現(xiàn)數(shù)字化控制,還針對(duì)各個(gè)功能模塊進(jìn)行了驅(qū)動(dòng)程序的設(shè)計(jì)和實(shí)現(xiàn),并通過(guò)調(diào)試對(duì)各個(gè)模塊的功能進(jìn)行了驗(yàn)證;為了能夠?qū)崿F(xiàn)遠(yuǎn)程測(cè)試,完成了基于Qt的隨動(dòng)控制測(cè)試系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn),并利用My SQL作為數(shù)據(jù)庫(kù)保存測(cè)試信息,采用QCustom Plot開(kāi)源庫(kù)進(jìn)行動(dòng)態(tài)曲線(xiàn)繪圖。整個(gè)隨動(dòng)控制測(cè)試系統(tǒng)通過(guò)隨動(dòng)控制測(cè)試軟件對(duì)測(cè)試模式進(jìn)行選擇配置,并以UDP的數(shù)據(jù)包格式將配置下載到隨動(dòng)控制指令發(fā)生器中,隨動(dòng)控制指令發(fā)生器則根據(jù)配置的信息和FPGA產(chǎn)生的時(shí)統(tǒng)信號(hào),生成一系列的位置指令,通過(guò)CAN總線(xiàn)傳輸?shù)蕉噍S運(yùn)動(dòng)控制器中,并將獲得的實(shí)際的位置信息與生成的位置指令一同向回傳給隨動(dòng)控制測(cè)試軟件,測(cè)試軟件則會(huì)根據(jù)獲得的信息繪制測(cè)試曲線(xiàn),方便進(jìn)行控制跟蹤。最后,通過(guò)實(shí)際的實(shí)驗(yàn),驗(yàn)證了隨動(dòng)控制測(cè)試系統(tǒng)的可行性;對(duì)于數(shù)據(jù)采集系統(tǒng),通過(guò)對(duì)數(shù)據(jù)采集得到的數(shù)據(jù)進(jìn)行分析擬合并以軟件方式進(jìn)行誤差補(bǔ)償,經(jīng)驗(yàn)證達(dá)到了預(yù)期的目的。
[Abstract]:The servo control system and data acquisition are playing a more and more important role in the military, aerospace and civil fields. With the continuous development of their digitization and integration, the accuracy of the servo control system and data acquisition is becoming more and more important. Response speed and other performance requirements are becoming higher and higher. It is hoped that the turret can follow the position order through the servo control system, and the load can be tested online. This paper focuses on the test system and data acquisition system of the servo control system. The servo control test and data acquisition system uses TI's DSP TMS320F28335 chip with strong floating-point operation ability as the core controller and the Cyclone II series FPGA chip of Altera Company as the auxiliary controller. In order to meet the system accuracy and response speed and other requirements. According to the requirement of the system, the hardware circuit of the instruction generator of the servo control system is designed by using DSP control chip, power supply module W5300 Ethernet module and can communication module. The design of the serial bus SCI SPI and the analog circuit based on AD7176-2 A / D conversion chip is completed, in which the conditioning circuit of the analog circuit adopts the mode of amplifying the analog signal first and then attenuating the analog signal. In order to realize the digital control, the driver is designed and implemented for each functional module, which makes the sampling voltage of the input end of the ADC maximum, and improves the signal-to-noise ratio and the measurement accuracy to the greatest extent. The function of each module is verified by debugging. In order to realize the remote test, the design and implementation of the servo control test system based on QT is completed, and the test information is saved with my SQL as the database. QCustom lot open source library was used for dynamic curve drawing. The whole servo control test system selects and configures the test mode through the following control test software, and downloads the configuration to the servo control instruction generator in the form of UDP data packet. According to the configuration information and the timing signal generated by FPGA, the servo control instruction generator generates a series of position instructions, which are transmitted to the multi-axis motion controller via can bus. The actual position information obtained and the generated position instructions are passed back to the following control test software together, and the test software will draw the test curve according to the obtained information, which is convenient for control tracking. Finally, through the actual experiment, the feasibility of the servo control test system is verified. For the data acquisition system, the data collected is analyzed and merged to compensate the error in software. It has been proved that the expected purpose has been achieved.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273;TP274.2

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