基于DSP的挠性陀螺再平衡回路数字化设计与实现

陀螺数字再平衡技术是实现捷联惯导系统高精度导航的关键技术之一,文中以TI公司的TMS320F2812芯片为核心控制器搭建硬件架构,对陀螺信号进行数据实时采集和FIR数字滤波等处理,所得数字量,D/A转换及功率放大后实现闭环控制;该系统具有体积小、精度高、稳定性高、控制灵活性好等特点,实现了比模拟伺服系统更好的静态和动态性能;实验表明,此方案具有良好的实用性和可靠性。     

挠性陀螺组件模拟再平衡回路的改进与实现

为了提高挠性陀螺组件动、静态性能,必须考虑传统再平衡回路中陀螺仪章动特性对组件性能的影响,需对挠性陀螺仪数学模型和校正网络进行优化.通过挠性陀螺仪运动方程分析和扫频试验测试,在原有挠性陀螺仪工程简化模型中增加了一个二阶振荡环节,得出了一种更能真实反映陀螺特性的精确数学模型.运用期望校正法对回路中校正网络进行了改进设计,...     

基于DSP和FPGA的挠性陀螺数字力反馈回路的设计

首先介绍了挠性陀螺力反馈回路的传递模型。针对目前模拟力反馈回路中噪声、漂移和精度低等缺陷,提出了一种数字化方案,在设计中应用了数字信号处理器(DSP)和现场可编程门阵列(FPGA),并给出了其设计和解决方法。利用数字回路有效地降低了模拟回路中固有的噪声和漂移等的影响,达到了更高的精度。试验证明此方案具有很好的实用性和经济性。     

基于三轴稳定平台陀螺解耦方法

为了减小像移,机裁成像设备经常采用三轴陀螺稳定平台隔离或消除飞机姿态变化时成像的影响.但由于三轴稳定平台的结构,使得平台在运动过程中轴间不能始终保持相互正交,这就使陀螺输出产生耦合,会使成像系统产生耦合像移,影响成像质量.本文介绍耦合产生的原因,分析产生耦合的原理,根据对原理的分析结论给出一种解耦方法,描述了解耦方案的硬件和软件设计方案.经过实际的成像实验证明,该方法有效地消除了稳定平台陀螺间耦合作用,保证了机载成像系统的稳定精度,较好地消除了飞机姿态变化产生的像移,方法正确可行.     

模糊神经网络在解耦控制中的研究

在工业生产过程中,针对纯迟延、时变、强耦合的多输入多输出现象,提出一种基于模糊神经网络解耦和PID控制相结合,对系统进行解耦控制的方法。这种方法不需要建立多变量对象精确的数学模型,通过对大迟延大惯性强耦合的循环流化床锅炉床温一主汽压力对象进行仿真,其结果表明,解耦控制效果很好,具有良好的静态性、动态性及鲁棒性。     

动调陀螺再平衡回路的设计

本文采用多变量系统频域法设计动调陀螺再平衡回路,并由仿真与实验系统的高度主宰了该设计方法的可行性。     

多变量解耦控制方法

介绍了用于多变量解耦控制的自适应解耦控制和模糊解耦控制两种方法;说明了各种解耦控制方法的特点、应用情况及效果;对各种方法解耦程度进行了评价,同时分析了其对系统的影响。并就多变量PlD自适应解耦控制方法进行了仿真,仿真结果表明了该方法的有效性;最后提出通过传统控制方式的重新组态来解决多变量解耦控制的难点的设想。     

光电平台中微型挠性陀螺组件的改进与实现

针对一般工程设计中只考虑挠性陀螺的进动性而未考虑陀螺的章动的问题,从理论上计算了陀螺章动频率,并实测了某微型挠性陀螺输出特性数据。针对输出特性中3种高频成分和低频包络,采用了二级陷波电路以及力矩器组件两种改进措施,并进行了分析与验证。试验结果表明,改进后陀螺章动频率和40 Hz包络很快收敛,且使挠性陀螺角位置输出噪声衰减达15 dB以上。最后将陀螺应用到某战车光电稳定平台中,平台与载体的隔离度由原来的1～2 mil提高到0.3 mil,达到了改进的目的。     

轴不对准角在挠性陀螺组合静态误差标定中的应用

陀螺组合的安装误差会引起陀螺漂移,从而对惯导系统产生影响。从挠性陀螺组合安装误差模型入手,推导出存在轴不对准角情况下的挠性陀螺组合静态误差标定模型,并给出静态误差标定的位置试验方案。提出的标定方案可以有效标定陀螺组合静态误差系数,从而减少陀螺漂移。     

模糊解耦控制在集散控制中的应用

该文结合循环流化床锅炉的特点,采用了霍尼韦尔公司的EPKS控制系统对锅炉进行控制,设计了硬件的配置,主要设计了控制策略,将模糊解耦控制应用在控制策略中,进行了实验仿真,实验结果表明模糊解耦控制具有良好的解耦效果。     

三轴高速联动柔性控制的实现

在三维激光内雕机中，一方面，伺服进给速度很快；另一方面，各运动轴启停频繁。如不采用特殊方法来实现动态过程，必将给机床带来很大冲击。本文根据开放式结构控制思想，将加减速描述与系统数控程序相分离，从而实现一种柔性控制模式，保证在工作台运行平稳的前提下，达到以过渡过程时间最短为目标的加减速控制规律。     

Generalization of decoupling control

This correspondence develops sufficient conditions for decoupling of anr-inputm-output multivariable control system via control law with a rectangular feedforward matrix. A synthesis example of the decoupling control system is given and studied.     

Centralized multivariable control by simplified decoupling

This paper presents a generalized formulation of simplified decoupling to n × n processes that allows for different configurations depending on the decoupler elements set to unity. To apply this decoupling method, the realizability conditions are stated. Then, from the previous decoupling in combination with a decentralized control, the formulation of a centralized control by simplified decoupling is developed. After reducing the controller, this last proposed method is modified to a multivariable PID control. From an implementation point of view, the windup problem is addressed for these methods, and an anti-windup scheme for multivariable PID controllers is proposed. Comparisons with other works demonstrate the effectiveness of these methodologies, through the use of several simulation examples and an experimental lab process.     

Sensitive decoupling control of linear disturbed-parameter systems

The input-output decoupling control problem for a generalized multivariable linear model, covering most practical situations, is treated for the case where the model involves disturbances in the parameters. A sensitive decoupling controller is derived which maintains the decoupling conditions to first order in the parameter variations, about their nominal values.     

Dynamic input-output decoupling of nonlinear control systems

The problem of dynamic input-output decoupling of nonlinear control systems is studied. Based on an analytic algorithm the authors obtain necessary and sufficient conditions for the solvability of this problem. The solution of the problem is constructed by applying a series of simple precompensations and linking maps. Some interesting connections with other approaches in nonlinear control theory are discussed. The authors also give a few (simple) examples to illustrate the methods used     

凹印机张力与速度解耦控制

印刷包装行业中,由于凹印机张力控制系统中动力学模型变化大,张力-速度的强耦合,很容易造成控制系统的不稳定。如何降低张力-速度的强耦合,提高产品质量,成为凹印机张力控制的重要课题之一。通过建立凹印机张力控制系统的数学模型,在此基础上实现了对张力-速度的解耦控制,并对解耦效果进行了仿真,仿真结果表明该方法能降低张力-速度之间的耦合程度,改善系统的控制效果。     

Recursive linearizing and decoupling control of robots

A control structure is considered for decoupling and linearizing the dynamic behavior of a robotic manipulator. Since computational efficiency is a crucial consideration in implementation of this control system, a fast recursive algorithm is presented for the necessary digital computations, and the computational requirements are studied in terms of the number of degrees of freedom of a general and open-chain robotic manipulator. An important feature of the algorithm is that decoupling is realized without employing matrix inversion. The sequential recursive algorithm is restructured into a parallel algorithm. A significant improvement in the computational speed is achieved in this manner. The computing requirements of the parallel algorithm are compared with those of the serial algorithm. For a six-degrees-of-freedom robot, the computational cost of the parallel algorithm is approximately 23 % of that of the original serial algorithm. Finally, the processor loads in some regions of the parallel algorithm are redistributed to achieve a balanced scheme. The resulting parallel algorithm requires approximately 17% of the computational effort of the serial algorithm, for a six-degrees-of-freedom robot.     

Temperature control of the inertial-grade floated rate-integrating gyroscope

The performance of the inertial-grade floated rate-integrating gyroscope is critically dependent on the instrument surface temperature distribution. During operation, the instrument is degraded by distributed surface heat-flux disturbances, and it is desired to control the surface temperature distribution in a closed-loop feedback configuration such that the instrument degradation is minimized. This is achieved via optimal control theory, where a distributed feedback controller is determined such that the square of thermally induced drift rate is minimized. The structure of the resulting controller is examined, and various configurations for implementation are suggested.     

A new hybrid robust control of MEMS gyroscope

To control microelectromechanical systems (MEMS) gyroscope axis, we propose and investigate a new robust sliding mode controller (NRSMC). The sliding surface in the phase space converges to the equilibrium point within a finite period from any initial state. However, the main drawback of this control system is the chattering phenomenon, which is undesirable for the MEMS system. To solve this problem, we suggest a novel hybrid control system which improves trajectory tracking and eliminates the chattering. The dynamic stability of NRSMC against external disturbances is proved by applying the Lyapunov theory. The effectiveness of the proposed control method is verified by numerical simulation with a random noise applied to demonstrate the robustness of the proposed control system.

     

On the decoupling of linear time-varying control systems

Some recent results concerning the input-output decoupling problem of time-invariaut systems, for which the decoupling matrixB*is not invertible, are extended to time-varying systems. It is shown that the maximum number of input-output pairs which can be decoupled by linear state feedback is equal to rankB*(t) = r, whereris assumed to be constant over the entire time interval of interest. An illustrative example is provided.