基于多功能数据采集卡和变速PID的转台控制系统设计

Control System Design of Turntable Based on Multifunction DataAcquisition Card and Variable Speed PID

摘要:

为了提高采用转台对惯性导航系统和惯性仪表进行误差模型标定时的可靠性和精度,对角位置转台的控制系统进行了研究；首先借助NI公司PXI-8101控制器和功能强大的数据采集卡PXIe-6363对转台控制系统进行了硬件设计；随后在对转台常规PID控制方法研究的基础上提出了一种能随系统调节偏差自动改变积分项累加速度的变速PID控制方法；接着又对基于软件实现的双通道旋转变压器轴角解调算法进行了研究并提出了一种粗精组合角纠错方法；最后文章设计的转台控制系统进行了测试实验,结果表明提出的轴角解调算法具有较好的解码速度和精度,并且变速PID控制方法大大提高了转台控制系统的自学习能力和鲁棒性,显著地改善了转台控制过程的稳定性。

Abstract:

In order to improve the reliability and accuracy of the calibration process for the error model of the inertial navigation system and inertial instruments, the paper focuses on the study of control system of angle position turntable. First of all, the hardware of the turntable control system is designed by the data acquisition card PXIe-6363 and the controller PXI-8101 from NI company. After the modeling and analyzing of the control system, a new speed PID control method which can adjust deviation automatically according to the system and amend integral term to accumulate velocity is proposed. Then based on the research of the angle measuring of two-channel resolver, a brand-new approach for error correction for combination of coarse and fine code is advanced also. Finally, the test experiment is carried out and the results show the good decoding speed and accuracy of the axis angle demodulation algorithm, and variable speed PID algorithm greatly improves the system's self-learning ability and robustness, which makes a significant improvement in the stability of the control process.