控制工程专业经典硕士论文选集：关于陀螺稳定跟踪平台的探索与研究
目录：
摘要 4-5
Abstract 5
第1章绪论 8-12
1.1课题目的及意义 8-9
1.2国内外研究现状 9-11
1.2.1光纤陀螺 9-10
1.2.2稳定跟踪平台 10-11
1.3课题研究内容 11-12
第2章运动伺服系统的组成 12-27
2.1运动伺服系统的构成 12
2.2运动伺服系统控制器设计 12-22
2.2.1基于计算机的运动伺服控制器 12-17
2.2.2嵌入式运动伺服控制器 17-22
2.3运动控制效果 22-26
2.3.1基于计算机的运动伺服控制器控制效果 22-24
2.3.2嵌入式运动伺服控制器控制效果 24-25
2.3.3结果分析 25-26
2.4本章小结 26-27
第3章陀螺及其信号处理 27-39
3.1陀螺概述 27-29
3.1.1陀螺分类与用途 27-28
3.1.2光纤陀螺 28-29
3.1.3光纤陀螺参数 29
3.2陀螺信号处理 29-38
3.2.1硬件电路 30-32
3.2.2软件处理 32-38
3.3本章小结 38-39
第4章稳定跟踪平台 39-51
4.1稳定跟踪平台原理 39-40
4.2陀螺稳定平台 40-42
4.2.1陀螺稳定平台结构 40-41
4.2.2稳定控制器算法 41-42
4.3陀螺稳定平台试验 42-49
4.3.1试验平台 42
4.3.2整体稳定式稳定试验 42-47
4.3.3试验结果讨论 47-48
4.3.4伺服连接式稳定试验 48-49
4.4多轴稳定平台分析 49-50
4.5跟踪系统分析 50
4.6本章小结 50-51
结论 51-52
参考文献 52-57
致谢 57
【摘要】 陀螺稳定跟踪平台涉及光电传感器、数据采集与处理、运动控制、图像处理等多项技术,是多个学科有机结合的产物。应用领域包括武器稳瞄等诸多方面。从事该项目的研究具有很好的前景与实践意义。本文建立了陀螺稳定跟踪平台,达到与动载体之间的隔离的目的,并能够满足视轴稳定的要求。首先,分析了该系统中运动伺服系统的结构,并从软硬件两方面详细论述其中的控制器部分。设计、制作、调试、实现运动控制卡,编写人机交互界面与运动控制程序,构成基于计算机的运动伺服控制器。在此之后将该系统移植到嵌入式运动伺服控制器中,并进行代码的优化。对两者的硬件电路、软件结构、控制效果等方面作对比。结果表明,该控制器移植后控制器仍保持原有的性能,可以用于运动伺服系统。其次,根据光纤陀螺的特点,设计并实现了硬件信号调理与采集部分。根据采集得到数据的特点,采用剔预处理和各种数字滤波算法,并对比滤波效果。通过分析各方法的优缺点表明,基于离线学习自适应算法的FIR滤波适用于该系统。最后,基于上述的运动伺服系统与光纤陀螺测量系统,在试验平台上对各种控制器效果加以验证,并对稳定效果等方面进行分析。在此基础上,对多轴问题与跟踪问题分别作讨论。其结果表明,该陀螺稳定跟踪平台方案可行。
硕士论文【Abstract】 Gyro stabilized and tracking platform involves several techniques, including optoelectronic sensors, data acquisition and processing, motion control, image processing and so on, which is the organic integration of many subjects. It’s used in abroad field of stabilized sighting system in weapons and so on. Research on the subject has great prospect and practical significance. The paper builds gyro stabilized and tracking platform, which isolates the moving of carrier, meets the stability requirements of line of sight.Firstly, the paper analyzes the structure of motion servo system, and discusses the hardware and software of controller in detail. Servo controller based on computer is formed in the paper, after designing, producing, debugging and realizing of motor control board, programming of interface and motion control program. And then it transplanted in embedded servo controller. And the hardware circuits, software structure, effect of control of the two controllers are compared. The results show that the embedded servo controller remains the original performance.Secondly, the paper designs and realizes of the hardware acquisition and signal conditioning parts based on the characteristics of FOG. The paper analyzes the specialty of data, uses pretreatment and digital filtering algorithms, and compares filtering effects. By analyzing the advantages and disadvantages of each method, it’s showed that FIR filter based of the off-line learning adaptive algorithm is suitable for this system.Finally, based on motion servo system and fiber optic gyro measurement system above, kinds of controllers are used in the test platform to verify the effects, and analysis of results is proposed. On this basis, the issues of multi-axis and tracking are discussed. The results show that the scheme of gyro stabilized and tracking platform is viable.
【关键词】 稳定跟踪平台； 光纤陀螺； 运动伺服系统；
【Key words】 stabilized and tracking platform； fiber optic gyro； motion servo system；