基于dsp的单通道伺服控制器设计—-毕业设计论文

硕士学位论文

基于DSP的单通道伺服控制器设计

DESIGN OF SINGLE CHANNEL SERVO CONTROLLER BASED ON DSP

罗中宝

哈尔滨工业大学

2010年6月

国内图书分类号：TP391.9 学校代码：10213 国际图书分类号：629.7.08 密级：公开

工学硕士学位论文

基于DSP的单通道伺服控制器设计

硕士研究生：罗中宝

导师：丛大成教授

申请学位：工学硕士

学科：机械电子工程

所在单位：机电工程学院

答辩日期：2010年6月

授予学位单位：哈尔滨工业大学

Classified Index: TP391.9

U.D.C: 629.7.08

Dissertation for the Master Degree in Engineering

DESIGN OF SINGLE CHANNEL SERVO

CONTROLLER BASED ON DSP

Candidate:Luo Zhongbao

Supervisor:Prof. DaCheng Cong Academic Degree Applied for:Master of Engineering Specialty: Mechatronic Engineering Affiliation: School of Mechatronics

Engineering

Date of Defence:June, 2010

Degree-Conferring-Institution: Harbin Institute of Technology

哈尔滨工业大学工学硕士学位论文

摘 要

伺服控制器是电液伺服系统的重要组成部分，是完成各种伺服控制算法，实现电液伺服系统实时运动控制的关键。单通道伺服控制器是伺服控制器的一种，主要应用于单缸位置闭环系统中。现阶段，国内大多采用国外厂家生产的通用控制器来实现单缸的位置伺服闭环，该类控制器不但价格昂贵，而且还需根据自身实际应用环境，设计相应的调理电路。基于DSP的单通道伺服控制器既为单缸位置伺服控制提供了一个完整的解决方案，缩短了控制系统的开发周期，又继承了嵌入式系统高性价比的特点，削减了控制系统的开发成本。鉴于以上优势，基于DSP的单通道伺服控制器在单缸位置闭环系统中具有非常广阔的应用前景。

本文首先分析了单通道伺服控制器的整体功能及性能需求，并根据整体功能需求划分了控制器软、硬件平台的功能模块，最终细化出软、硬件各功能模块的功能及性能需求。然后，根据软、硬件各模块的功能及性能需求，设计了单通道伺服控制器的软、硬件平台。在硬件平台的设计阶段，详细探讨了如何在DSP28335片外扩展位移采集模块和伺服阀驱动模块，并为位移采集模块和伺服阀驱动模块设计了相应的调理电路及硬件驱动。在控制器的软件设计阶段，主要设计了单通道伺服控制器与上位机之间的CAN通讯模块，并根据实际系统的需求，设计了单通道控制器的位置伺服闭环程序和人机交互界面。最后，通过实验验证了控制器的正确性，并阐述了单通道伺服控制器的比例增益对系统性能的影响。

本文中采用了基于快速原型技术的DSP程序开发方案，我们首先在利用Simulink中的Embeded Target for C2000 DSP 工具箱编写控制器的伺服闭环程序，然后通过Matlab中的Real-Time Workshop和TI的开发工具将Simulink模型转换成实时控制代码。最后通过Code Composer Studio将实时控制代码下载到单通道伺服控制器中。

本论文研发的单通道伺服控制器可以完成4路传感器信号的采集、1路伺服阀的驱动、8路数字量输入和8路数字量输出。我们并为单通道控制器配备了CAN通讯模块和人机交互模块，用户仅需将上位机的CAN接口与控制器的CAN接口相连并在上位机安装人机交互软件，便可以实现控制参数的实时修改和位移反馈信号的实时监测。

关键词：单通道伺服控制器；DSP；CAN通讯；快速控制原型

哈尔滨工业大学工学硕士学位论文

Abstract

Servo_Controller plays an important role in electro_hydraulic servo system, which is the key factor to realize servo control algortihm and to achive real_time motion cotrol.Single Channel Servo Controller is a kind of Sevo_Controller used in position close_loop servo system. Nowadays, General Controller produced by foreign company is often adapt to accomplish single cylinder position close_loop control.This kind controller is not only expensive, but also analog regulate circuits need to be designed according to practical application enviroment. Single Channel Servo Controller provides an integrate solution for single cylinder servo control system, therefore time to bulit a servo system is reduced, Single Channel Controller also obtain one characteristic of embeded system, which make Single Channel Controller much cheaper than General Controller. According to the advantages of this controller, Single Channel Controller will be widely used in single cylinder position servo control system.

Firstly, this paper analysed the whole function and performance requirements of Single Channel Controller. Then according to whole function requirement, several function module of hardware and software is divided. Subsequently, the detailed function and performance requirement of each module is obtained. Secondly, software and hardware platform was designed according to the function and performance requirement of each modules. In the hardware design stage, we design the DSP’s peripheral extended circuits, including extending position acquisition module and servovalve drive module. Corresponding regulate circults and hardware drives were also designed for these two module. In software design stage, we mainly designed the CAN communication module to bridge the connection between host computer and the controller. The servo close_loop code and the graphic users’ interface for position servo control system were also developed. Finally, we testified the validity of Single Channel Controller and derived the realtionship between proportional gain of controller and performance of postion servo system.

Rapid Prototyping Technology was employed to develop the realtime code for DSP. At the beginning, Embeded Target for C2000 DSP Toolkit was used to develop the controller’s servo close_loop code in Simulink. Then, we translate the simulink model to realtime code by Real_Time Workshop and Tools provided by TI company. Finally, the realtime code was downloaded into single channel servo controller by Code Composer Studio.

The following functions had been obtained in Single Channel controller: