一种基于DSP的移动机器人运动控制器设计

分析了运动控制器对机器人的重要性;提出了一种高性能的基于DSP芯片的运动控制器的整体设计方案,该控制器集控制电路、数据采集模块和驱动电路于一体,能够很好的完成机器人运动轨迹和位置的控制。设计了控制器的硬件电路,重点介绍了驱动电路和电源电路的设计过程。最后,为了实现控制要求,对软件进行了相应的设计。     

Modeling and controller design of a Maglev guiding system for application in precision positioning

In this paper, the authors analyze the dynamics of a magnetic guiding system and derive its analytical model with full degrees of freedom (DOFs). Then, an adaptive controller which deals with unknown parameters is proposed to regulate the five DOFs in this system. The guiding system, including sensors and driver subsystems, has actually been implemented. Based on the experimental results, satisfactory performance including stiffness and resolution has been achieved. This validates the design of the system hardware and demonstrates the feasibility of the developed controller.     

自适应模糊PID控制的太阳光跟踪伺服系统

针对太阳光跟踪伺服系统中应用的传统PID控制过程中的一些问题,本文通过对自适应模糊PID控制系统的分析,设计了双轴跟踪伺服系统自适应模糊PID控制器,并在Simulink环境中建立方位角跟踪传动机构仿真模型且完成仿真。仿真结果表明,太阳光跟踪伺服系统自适应模糊PID控制器较传统PID控制器具有较强的稳定性、适应性与鲁棒性,这在太阳光跟踪伺服系统控制领域具有重要的实用价值与应用空间。     

An adaptive controller for a direct-drive SCARA robot

A direct adaptive controller for trajectory tracking of high-speed robots such as a direct-drive SCARA robot is presented. In this robot, nonlinear effects due to centrifugal, Coriolis, and inertial forces are more important than friction and gravity forces, unlike most industrial robots. The control law of the adaptive scheme consists of a PD regulator plus feedforward compensation of full dynamics. The feedforward terms are adjusted by an adaptation law so that the steady-state position errors are zero. With this adaptive controller, the joint acceleration measurement is not required and no inversion of the estimated mass matrix is involved. The tracking performances of the controller applied to a two-degree-of-freedom SCARA is illustrated by a real-time implementation based on a single-chip digital signal processor (DSP)     

A DSP-based implementation of a nonlinear model reference adaptive control for a three-phase three-level NPC boost rectifier prototype

In this paper, the design and the implementation of a model reference adaptive control (MRAC) applied to a three-phase three-level neutral-point-clamped (NPC) boost rectifier are presented. This control strategy is developed with a view to regulate dc output and neutral point voltages and to reduce the influence of parameter variations while maintaining unity power factor. A nonlinear multiple-input multiple-output (MIMO) state space model of the rectifier is then developed in dq0 reference frame. The proposed controller is based on the use of a feedback linearization technique followed by a robust MRAC scheme allowing the design of a suitable controller applied to the plant. The control law is designed in Simulink/Matlab and applied to the converter via a 1920-Hz pulse width modulator both executed in real time using the DS1104 DSP of dSPACE. A 1.25 kW laboratory prototype is developed for validation. The experimental results are given for different operating conditions: nominal power operation, balanced and unbalanced dc load steps, boost inductor variation, and reactive power control. The proposed control law performs perfectly in a wide operation range giving low output voltage ripple, low line-current THD, a small overshoot and a fast settling time under system parameters variation.     

An electronic controller for adaptive suspension

Developing an adaptive suspension system for a luxury car weighing over 2000 kg presents an exacting challenge in embedded control. This article describes the development of an adaptive suspension controller by Lamerholm Fleming Ltd for Rolls-Royce Motor Cars Ltd. during the period from 1995 to 1997. The controller replaced an earlier design, which had originally entered production in 1989. The new system uses hydraulic dampers (shock absorbers) which can be switched between three different settings by means of two solenoid controlled valves. Each damper setting provides a different complex force/velocity response for bounce and rebound. These mechanical characteristics are determined by the precise magnitudes of springs and orifices within the damper. The function of the electronic controller is to select the optimum damper setting for any particular driving conditions and to choose the best time to switch from one setting to another. The aim of the whole suspension system is to provide the best possible compromise between ride, comfort and handling     

DSP-based multi-purpose control system for laser processing

In modern laser processing[1],the operations per-formed by a motion control system have to be done inreal ti me at high frequency. While PC hardware andsoftware are not opti mizedfor these kinds of operations ,the DSPandthe software onthe motioncontrol sy…     

A robust adaptive controller for PM motor drives in roboticapplications

The paper deals with theoretical development and practical implementation of an adaptive speed and position regulator suitable for robotic applications. The proposed adaptive control scheme is characterized by a reduced amount of computation and is based on the model reference adaptive control approach to compensate the variations of the system parameters, such as inertia and torque constant. A disturbance torque observer is employed to balance the required load torque and reduce the complexity of the adaptive algorithm. Simulation tests of a robotic drive, including an interior type permanent magnet synchronous (IPMS) motor, are reported in order to compare the proposed control scheme with standard speed and position regulators. Experimental results, obtained from a prototype based on a commercial PC board, are also reported in order to practically evaluate the feasibility and the features of the proposed adaptive control scheme     

基于DSP的动力锂电池检测系统

设计了一种基于TMS320C2812DSP的动力锂电池组检测系统,实现对锂电池组的单体电压、电流和温度的检测及显示。对电压、电流和温度的采集电路进行了具体的设计并进行详细的介绍。运算放大器采用ADI公司的AD708JNZ,电流互感器采用LEM公司的LA55-P/SP50。最后给出了检测系统的实验结果并进行分析。结果表明,该系统具有精度高、硬件电路简单、处理速度较快等特点,可以运用在电动车及混合动力系统的锂电池储能系统中。     

An adaptive digital controller for a unity power factor converter

This paper describes an adaptive digital controller for a unity power factor AC-DC power converter. The controller is based on a linear large-signal model of the boost power converter. A hardware design is presented and analyzed, followed by the software implementation of the control algorithm. Issues in digital control of power converters, such as quantization effects and fixed-point representation of system parameters, are examined in the context of this system. Experimental results are presented and compared with simulations     

Particle swarm optimization based feedforward controller for a XY PZT positioning stage

Compensations for cross-axis coupling effect and hysteretic nonlinearity of a novel XY piezo-actuated positioning stage are presented in this study. The piezo-actuated stage utilizes a monolithic flexure-based mechanism (FBM) to achieve translations in X- and Y-axes instead of using stacked mechanisms. A hysteresis model with crossover term is proposed to alleviate the cross coupling effect between X- and Y-stages during precision positioning tasks. System identifications using real-coded genetic algorithm (RGA) and clonal selection algorithm (CSA) are compared with particle swarm optimization (PSO). The results show that PSO provides better performance than the others. Therefore, a feedforward controller with cross-axis coupling compensation is studied and the used for the piezo-actuated FBM to enhance the precision of the coarse positioning stage. The experimental results confirm that the proposed controller can achieve precision tracking tasks with submicron precision.     

DSP-based self-tuning IP speed controller with load torquecompensation for rolling mill DC drive

This paper describes the design and the implementation of a self-tuning integral-proportional (IP) speed controller for a rolling mill DC motor drive system, based on a 32-bit floating point digital signal processor (DSP)-TMS 320C30. To get a better transient response than conventional proportional-integral (PI) and/or integral-proportional (IP) speed control in the presence of transient disturbance and/or parameter variations, an adaptive self-tuning IP speed control with load torque feedforward compensation was used. The model parameters, related to motor and load inertia and damping coefficient, were estimated online by using recursive extended least squares (RELS) estimation algorithm. On the basis of the estimated model parameters and a pole-placement design, a control signal was calculated. Digital simulation and experimental results showed that the proposed controller possesses excellent adaptation capability under parameter change and a better transient recovery characteristic than a conventional PI/IP controller under load change     

一种自适应模糊PID控制器应用仿真

研究了一种误差驱动型自适应模糊PID控制器在二阶时滞系统中的应用。选择系统的稳态误差和误差变化率为PID参数自适应模糊调整的前件变量,将前件变量模糊化为7个论域期间,建立了PID参数调整的模糊规则表,查表得PID参数的后件参数,采用极大值反模糊化规则得到具体PID控制参数。仿真结果表明采用该控制器后系统的调节时间大大缩短,控制效果令人满意。     

A monolithic positioning system

A monolithic positioning system operating with absolute coded magnetic scales is presented. The system is intended for precise absolute positioning in industrial applications. Mounted on a tool, the sensor system moves along a stationary scale. A sophisticated comb of sensors reads out the magnetic coding allowing the absolute position to be calculated. The main task has been to cancel the immense sensor offsets. Numerous structures have been measured in order to get statistically assured data of sensitivity and offset variation. A sensor readout technique without large offset cancellation circuitry is discussed. Furthermore a novel linear operational transconductance amplifier (OTA) is shown.     

基于DSP的某航炮综合测控系统

为满足航炮在射击过程中的高速稳定性,以及与飞机通信的可靠性,采用以DSP TMS320F2812为核心,加以CPLD、铁电存储器、信号调理电路为其硬件设备,模块化、安全可靠性、可测试性、人机交互的测控系统软件设计。其中任务管理模块进行故障报错,并在脉冲传输过程中通过CPLD对余弹脉冲信号进行相应滤波处理,排除杂波对余弹脉冲所产生的干扰,以及根据任务管理模块控制指示灯的闪烁次数,判断错误类型并进行自动纠错。当测试或射击过程中出现错误状态,系统将按逻辑切断所有输出,以保护航炮电路和测控系统的安全性,并且指示灯按照规定的错误码报告当前错误,根据错误类型进行自动排误,并重新初始化测控系统。经验证此系统安全可靠,保证航炮顺利完成任务。     

Design of a digital adaptive controller for electrical drives inindustrial applications

The adaptive control of an electrical drive intended for positioning applications is addressed. The regulator is based on a pole-placement technique and an online identification algorithm. The results of previous work by the authors are reviewed and a more accurate modeling is worked out by including a term accounting for the torque; to this aim a static feedforward element is designed and added to the control scheme. The limit on the motor current provided in actual systems is taken into account, and a desaturation strategy is proposed and tested. A further improvement of the performances is obtained by a dynamical change in the saturation limits. A number of simulations are presented to illustrate the performance of the system     

量子定位系统在沙尘暴背景下的最优纠缠度自适应策略

量子定位系统(quantum positioning system,QPS)具有定位精度高、安全系数高的特点,然而沙尘暴会使得光量子纠缠度产生较大变化,进而影响到量子定位系统的定位误差。为了降低这种误差,本文基于双卫星星地链路切换策略提出了抵抗沙尘暴干扰的最优纠缠度自适应(optimal entanglement degree adaptive,OEDA)策略。建立了沙尘暴各参数、传输距离与纠缠度之间的关系,并且将沙尘暴整体特征对系统的定位误差在自适应调整前后进行对比。仿真结果表明,当沙尘暴整体特征聚合因子为10,传输距离为10 km时,采用OEDA算法后,系统定位误差由0.14 m缩减至0.02 m,因而可知经过OEDA策略后可以提高沙尘暴天气下QPS的精确度。     

基于卫星导航定位系统自适应抗干扰控制

在全球卫星导航系统抗干扰问题的研究中,自适应波束形成技术很好地解决了与信号不同来向的干扰的抑制问题。但对与信号同向的窄带干扰抑制程度不够,同时会滤除部分导航信号。针对以上问题,提出了一种改进的自适应波束干扰抑制算法。首先,通过级联IIR格型陷波器预测并抑制与信号同向的窄带干扰,然后,利用基于直接数据域自适应波束形成技术抑制剩余的宽带干扰。该改进算法能够有效的滤除窄带和宽带干扰,提升卫星导航系统的抗干扰性能,并在实际卫星通信应用中更具处理的实时性。最后,通过仿真实验证明了该算法的可行性。     

An efficient digital sliding controller for adaptive power-supplyregulation

Proposes a digital controller for adaptive power-supply regulation that uses sliding control, which is a widely used technique in switching power supplies for its fast transient response and robust stability. A novel reformulation of the sliding control law enables a simple and power-efficient digital implementation. The reference circuit can be either a delay line or a ring oscillator, and the sensor circuits for both cases are discussed. The prototype chip fabricated in 0.25-μm CMOS technology demonstrates a power efficiency of 89% - 95 % over the regulated voltage range of 1.1 - 2.3 V     

自适应压电振动盘控制器设计

振动给料机是工业控制自动化中常用的设备,压电振动盘是目前效率和稳定性最高的振动给料机,但在使用过程中存在共振点变化导致效率下降的问题。针对该问题,设计了适用于压电振动盘的自适应控制器。该控制器能够对压电振动盘的振动频率和幅值进行连续调节,模糊PID控制使得振动盘输出幅值保持稳定,自适应算法使振动盘始终工作在最佳振动频率。控制器采用准谐振开关电源,可以消除电网电压波动对系统工作的影响。设计结果表明:该控制器工作性能稳定,驱动效率高且产生的噪音较小。