车载“动中通”伺服控制系统的设计与实现
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摘要
随着信息时代的到来,卫星通信发挥着越来越重要的作用。"动中通"系统作为该领域的典型代表,得到了广泛的应用。在对车载"动中通"伺服系统进行了分析和研究之后,设计了一种步进电机伺服控制系统。通过系统辨识工具箱建立了该系统中执行机构的数学模型,并在Simulink在中对伺服系统进行了仿真,设计了速度-位置双闭环PID-扰动补偿的复合控制算法,并应用到实际当中。实验表明,所设计的步进电机伺服控制系统能抑制载体的扰动,动态性能良好,满足性能指标要求。
With the advent of the information age, satellite communications play an increasingly important role.As a typical representative of this field, SOTM(Satellite communication on-the-move) system has been widely used. Based on the analysis and study of servo control subsystem of the vehicle SOTM, a stepper motor servo control system is designed. The mathematic model of the actuator in the system is established by using the system identification toolbox in MATLAB. The servo system is simulated in MATLAB/Simulink. The speed-position dual closed-loop PID with disturbance compensation control algorithm is designed. The experimental results show that the proposed stepping motor servo control system can significantly suppress the disturbance of the carrier and meets the performance requirements.
With the advent of the information age, satellite communications play an increasingly important role.As a typical representative of this field, SOTM(Satellite communication on-the-move) system has been widely used. Based on the analysis and study of servo control subsystem of the vehicle SOTM, a stepper motor servo control system is designed. The mathematic model of the actuator in the system is established by using the system identification toolbox in MATLAB. The servo system is simulated in MATLAB/Simulink. The speed-position dual closed-loop PID with disturbance compensation control algorithm is designed. The experimental results show that the proposed stepping motor servo control system can significantly suppress the disturbance of the carrier and meets the performance requirements.
引文
[1]程鹏.新型车载低高度“动中通”卫星天线研制[D].西安电子科技大学,2015.Chen P.The Develop of New Style Vehicular Low-Height Satcom on the Move Antenna System[D].Xidian University,2015.
[2]梁佰祥.车载“动中通”卫星地球站伺服控制系统的研究与设计[D].南京:南京邮电大学,2012.Liang B X.Reseach and Design of Servo Control System for Vehicle-borne Mobile Satellite Communication System[D].Nanjing University of Posts and Telecommunications,2012.
[3]武伟良,张振庄.基于捷联稳定的三轴车载动中通伺服系统[J].计算机与网络,2010,36(3):105-108.Wu W L,Zhang Z Z.Three-Axis Vehicle Dynamic Transmission Servo System Based on Strapdown Stability[J].Computer&Network,2010,36(3):105-108.
[4]潘玲云,王庆林,张磊.车载“动中通”伺服控制系统研究与应用[J].微型机与应用,2016,35(15):38-41.Pan L Y,Wang Q L,Zhang L.Research and Application of Vehicle“SATCOM”Servo Control System[J].Microcomputer&Its Applications,2016,35(15):38-41.
[5]姜君.用于移动载体卫星通信的动中通系统若干关键问题研究[D].南京理工大学,2012.Jang J.Research on Several Key Problems of Mobile Satellite Communication System Used on Moving Carrier[D].Nanjing University of Science and Technology,2012.
[6]王元.车载“动中通”天线伺服控制系统设计[D].华南理工大学,2015.Wang Y.Design of Antenna Servo Control System of Vehicle Satellite Communication in Motion[D].South China University of Technology,2015.
[7]郭嘉俭.动中通卫星通信系统若干技术问题探讨[J].卫星与网络,2007,8(7):38-49.Guo J J.Discussion on Several Technical Problems of Mobile Communication Satellite Communication System[J].2007,8(7):38-49.
[8]Acarnley P.Stepping Motors:A Guide to Theory and Practice[J].PPeregrinus on Behalf of the Institution of Electrical Engineers,2002(4):172.
[9]Samokhvalov D,Stoliarov S,Kekkonen A.The Hybrid Stepper Motor Modeling in Simulink[C].2015 IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference(EIConRusNW),IEEE,2015.
[10]张小东.车载移动卫星通信伺服系统的研究与设计[D].北京理工大学,2015.Zhang X D.Research and Design of Servo System for Vehicle Mobile Satellite Communication[D].Beijing Institute of Technology,2015.
[11]孔繁镍,马伏花,李燕.低通滤波PID水轮机调速系统设计[J].控制工程,2016,23(2):173-177.Kong F N,Ma F H,Li Y.Design of Low Pass Filter PID Controller for Speed Governing System of Hydro Turbine[J].Control Engineering of China,2016,23(2):173-177.
[12]赵凤姣,厉虹.PID控制器改进方法研究[J].控制工程,2015,22(3):425-431.Zhao F J,Li H.Research on Improved Methods of PID Controller[J].Control Engineering of China,2015,22(3):425-431.
[13]崔桂梅,赵继威.基于矢量控制和干扰前馈补偿的同步电机扭振控制[J].控制工程,2014,21(3):330-333.Chui G M,Zhao J W.The Control of Synchronous Motor Torsional Vibration Based on the Principle of Vector Control and Disturbance Feed-forward Compensation[J].Control Engineering of China,2014,21(3):330-333.
[14]赵雅婧.车载“动中通”卫星通信地球站系统控制性能的研究与改进[D].南京邮电大学,2014.Zhao Y J.Research on the System Control Performance of Vehicle-borne Mobile Communication Satellite Communication Earth Station[D].Nanjing University of Posts and Telecommunications,2014.
[2]梁佰祥.车载“动中通”卫星地球站伺服控制系统的研究与设计[D].南京:南京邮电大学,2012.Liang B X.Reseach and Design of Servo Control System for Vehicle-borne Mobile Satellite Communication System[D].Nanjing University of Posts and Telecommunications,2012.
[3]武伟良,张振庄.基于捷联稳定的三轴车载动中通伺服系统[J].计算机与网络,2010,36(3):105-108.Wu W L,Zhang Z Z.Three-Axis Vehicle Dynamic Transmission Servo System Based on Strapdown Stability[J].Computer&Network,2010,36(3):105-108.
[4]潘玲云,王庆林,张磊.车载“动中通”伺服控制系统研究与应用[J].微型机与应用,2016,35(15):38-41.Pan L Y,Wang Q L,Zhang L.Research and Application of Vehicle“SATCOM”Servo Control System[J].Microcomputer&Its Applications,2016,35(15):38-41.
[5]姜君.用于移动载体卫星通信的动中通系统若干关键问题研究[D].南京理工大学,2012.Jang J.Research on Several Key Problems of Mobile Satellite Communication System Used on Moving Carrier[D].Nanjing University of Science and Technology,2012.
[6]王元.车载“动中通”天线伺服控制系统设计[D].华南理工大学,2015.Wang Y.Design of Antenna Servo Control System of Vehicle Satellite Communication in Motion[D].South China University of Technology,2015.
[7]郭嘉俭.动中通卫星通信系统若干技术问题探讨[J].卫星与网络,2007,8(7):38-49.Guo J J.Discussion on Several Technical Problems of Mobile Communication Satellite Communication System[J].2007,8(7):38-49.
[8]Acarnley P.Stepping Motors:A Guide to Theory and Practice[J].PPeregrinus on Behalf of the Institution of Electrical Engineers,2002(4):172.
[9]Samokhvalov D,Stoliarov S,Kekkonen A.The Hybrid Stepper Motor Modeling in Simulink[C].2015 IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference(EIConRusNW),IEEE,2015.
[10]张小东.车载移动卫星通信伺服系统的研究与设计[D].北京理工大学,2015.Zhang X D.Research and Design of Servo System for Vehicle Mobile Satellite Communication[D].Beijing Institute of Technology,2015.
[11]孔繁镍,马伏花,李燕.低通滤波PID水轮机调速系统设计[J].控制工程,2016,23(2):173-177.Kong F N,Ma F H,Li Y.Design of Low Pass Filter PID Controller for Speed Governing System of Hydro Turbine[J].Control Engineering of China,2016,23(2):173-177.
[12]赵凤姣,厉虹.PID控制器改进方法研究[J].控制工程,2015,22(3):425-431.Zhao F J,Li H.Research on Improved Methods of PID Controller[J].Control Engineering of China,2015,22(3):425-431.
[13]崔桂梅,赵继威.基于矢量控制和干扰前馈补偿的同步电机扭振控制[J].控制工程,2014,21(3):330-333.Chui G M,Zhao J W.The Control of Synchronous Motor Torsional Vibration Based on the Principle of Vector Control and Disturbance Feed-forward Compensation[J].Control Engineering of China,2014,21(3):330-333.
[14]赵雅婧.车载“动中通”卫星通信地球站系统控制性能的研究与改进[D].南京邮电大学,2014.Zhao Y J.Research on the System Control Performance of Vehicle-borne Mobile Communication Satellite Communication Earth Station[D].Nanjing University of Posts and Telecommunications,2014.