变惯量智能伺服

．2014．222ComputerMeasurement＆Control·417·2013-09-162013-11-10。2011NCL0212012MS09111973-。1979-。1671-4598201402-0417-04TP183A014010PIDPIDPIDdsPIC30F6010A、、DSC、IPM、、、、PID30～45kg±3mm150ms。VariableInertiaIntelligentServoControlSystemBasedonSingle－ChipMicrocomputerLiAilianLiuWeisongSchoolofInformationEngineeringInnerMongoliaUniversityofScienceandTechnologyBaotou014010ChinaAbstractFormilitaryenterpriseloadingartilleryautoloaderspeciesincreasedcausedbythemomentofinertiaofservocontrolsystemofauto-loaderchangestheclassicalPIDcontrolmethodcanmakethesystemperformancedegradationandeveninstability．TosolvetheproblemoftheevolvementofthemomentofinertiacontrolcombinedwiththeconventionalPIDandneuralnetworktechnologytodesignthepositionloopofsingleneuronadaptivePIDcontrolalgorithmasimulationstudywascarriedout．Paperpresentsageneraldesignschemeofthecontrolsystemhascarriedonthesystemhardwareandsoftwaredetaileddesignandengineeringimplementation．DsPIC30F6010Adesignischosenbasedonmotorspecial－purposedigitalsignalcontrollerasthecoreofthewholehardwaresystemthesystemUSESthecurrentloopspeedloopandpositionloopthreeclosedloopstructuretheDSCcircuitIPMcircuitandperipheralcircuitsignaldetectionandprotectioncircuit．Hardwaresystemwithover－voltageprotectionover－currentprotectionandalsocanenhancethereliabilityofthesystemfunctionssuchasleakagecurrenttest．Simulationresultsshowthatthesin-gleneuronadaptivePIDcontrolcanbeverygoodtoadapttothechangesinthemomentofinertiatoimprovethedynamicperformanceofthesystem．BythefieldtestLoaderCoordinatoradaptstochangeavarietyofshelltypeshellqualityin30～45kgpositioningaccuracyisnotmorethan±3mmadjusttimelessthan150msstartandstopwhennoovershootphenomenoneffectivemilitarypracticalproblemsaresolved．KeywordsvariableinertiaclassicPIDsingleneuronadaptive0PID。PIDPID、、。。、、。1、1。、、、、、、、、、。1。12±3mm3150ms430～45kg。22·418·1。2dsPIC30F6010ADSC、、、、AD、PWM、、IO。、、。dsPIC30F6010AMicrochip2004DSCDSP。dsPIC30FDSCDSP。DSCIODSP。2.1dsPIC30F6010A8MHz。8MHzPLL864MHz。2.2dsPIC30F6010AIPM。PWMPWM54LS05PWM。PWM。IPMPM75ＲSA060、IPM。PWMIPMIPMIPM。IPMSHAＲPPC817。3、、。、。、PI2。2。23.1、、。312IPMKSTS+13PIWACＲS=KpiτiS+1/τiS、PIWASＲS=KpnτnS+1/τnS、WASＲS4、5Kd、1JS+B、1iS。3。3a、bc、aToi+1、bTon+1cTop+1、Toi、TonTop、TsKsJBi。2·419·EsEs。TL。1iS———GCS=bKpnKdτnS+1aτnST∑nS+1JS+B+bKpnKdτnS+1J。3.2PIDPID、。PIDPIDPID3－4。PID4。4PID。Hebbxikek+Δek5uk=uk－1+K∑3i=1ωikxikωik=ωjk∑3i=1ωjkω1k=ω1k－1+ηIzkukek+Δekω2k=ω2k－1+ηPzkukek+Δekω3k=ω3k－1+ηDzkukek+ΔekΔek=ek－ek－1zk=ek。3.35－6MatlabＲ2011bM。a=0.9b=0.032Kpn=51Kd=1.066τn=0.007T∑n=0.0014B=0.015J=0.0023～0.01。GCS=1.7397120.007S+10.0063S0.0014S+1JS+0.015+1.7397120.007S+1GCS=1380.7238JS+197246.2585JS3+0.000021+J0.0014S2+1.22724840.000882JS+197246.2585JJ0.0023、0.0062、0.01、0.013。1PIDJ=0.0023、J=0.0062、J=0.01、J=0.013。GCSJPIDKp=0.13Ki=0.004Kd=0.003。5。5PID5J=0.0023J=0.00620.58%J=0.013.31%。J=0.0062J=0.01。J=0.0135.9%。PID。JJ0.0062J0.01J0.00231J=0.0062930%1.6%。PID。2PIDPIDP、I、DηP=0.9、ηI=0.5、ηD=0.5、K=0.17。6。6J0.0023、0.0062、0.010.032sJ=0.0130.05s。PIDPIDPID。PIDJ22·420·6PID。PID30%。PID。4、。11。7。。8MHz1dsPIC30F6010ADLL864MHz0.5ms32000233000r/s163ms1ms7430.5ms。5。PIDPID。。1．J．2006143324-326．2．DSPD．2009．3．D．2010．4．M．1998．5．M．2006．6．PIDMATLAB3M．檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳檳2011．3991．J．20082518-12．2．J．2008281323-326．3．J．．2011474370-373．4．J．2012346127-130．5．J．2012389285-287．6．J．201018102318-2322．7．J．2009211157-160．8CameronS．Collisiondetectionbyfour－dimensionalintersectiontestingJ．IEEETransactionsonＲoboticsandAutomation199063291-302．9．J．2012463275-278．10ChristerEricson．M．．2010．