基于RTX的三轴转台控制系统研究
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摘要
随着航天、航空工业技术的高速发展,对惯性元件的精度要求不断提高;同样,作为测试惯性元件重要设备之一的三轴转台来说,它的性能直接关系到惯性元件仿真和测试实验的可靠性和置信度,对其性能指标的要求也越来越高,因此,三轴转台控制系统的研究对航天、航空工业和国防建设的发展具有重要的意义。
本文以三轴转台为背景,根据转台系统的具体要求和总体方案,着重讨论了转台控制器的设计和实时控制软件的开发,实现了基于RTX的转台控制系统软件研究。本文主要进行了以下几个方面工作:
首先,通过对转台控制系统功能和工作原理的分析,确定系统的总体设计结构。硬件方面,采用数据采集卡、D/A转换卡和工控机等搭建的系统驱动平台;软件方面,确定系统软件体系结构和框架模型,采用“Windows+RTX”为系统运行平台。
接着,文章根据三轴转台实际运动过程,通过理论分析推导出三轴转台系统被控对象的微分方程,作为设计和调试三轴转台控制系统的基础;针对三轴转台系统在运行过程中的耦合性及非线性特点,使用逆系统法对转台系统模型进行解耦,同时设计转台系统BP神经网络PID控制器。
最后,根据转台控制系统要求,采用“Windows+RTX”综合软件平台,开发转台控制系统实时软件,满足控制系统的实时性要求,解决了实时控制软件在Windows操作系统下难以运行的问题。
With the development of the aerospace and aviation industry, the precision of inertia component must be improved. As one of the most important devices to test inertia components, the performance of three-axis turntable directly relates to the reliability and confidence level of simulation and test. Consequently, its performance index is being demanded increasingly. Further, the research on the control system of three-axis turntable is important to the development of aerospace and aviation industry and national defense.
According to the specific requirements of the turntable system, this research mainly focuses on the design of three-axis turntable controller and the development of real-time control software. The research of the turntable control system based on RTX is achieved. Following are the main works and the result of the thesis:
Firstly, according to the analysis of the turntable control system's functions and principle, the overall structure of the turntable system is worked out. In terms of hardware, platform-driven system is established by the data acquisition card, D/A conversion card and industrial control system; In terms of software, the system software's architecture and framework model are determined. "Windows + RTX" to the software platform of the control system is used.
Secondly, on the basis of dynamic process, differential equations of three-axis turntable are derived by theoretical analysis. These are the base of designing and testing three-axis control system. For the coupling and non-linear characteristics of the three-axis turntable system in the operation process, the inverse system method is used to decouple the system model and the system controller is designed by BP neural network PID.
Finally, according to the requirements of the turntable control system, by analyzing the structure of the software system modules and work flow, the specific structure of the software system is constructed. Using " Windows + RTX" integrated software platform, the real-time software for the control system is exploited. It fulfils the requirements of real-time for the control system, and solves the problem that the real-time software is difficult to run under the Windows operation system.
本文以三轴转台为背景,根据转台系统的具体要求和总体方案,着重讨论了转台控制器的设计和实时控制软件的开发,实现了基于RTX的转台控制系统软件研究。本文主要进行了以下几个方面工作:
首先,通过对转台控制系统功能和工作原理的分析,确定系统的总体设计结构。硬件方面,采用数据采集卡、D/A转换卡和工控机等搭建的系统驱动平台;软件方面,确定系统软件体系结构和框架模型,采用“Windows+RTX”为系统运行平台。
接着,文章根据三轴转台实际运动过程,通过理论分析推导出三轴转台系统被控对象的微分方程,作为设计和调试三轴转台控制系统的基础;针对三轴转台系统在运行过程中的耦合性及非线性特点,使用逆系统法对转台系统模型进行解耦,同时设计转台系统BP神经网络PID控制器。
最后,根据转台控制系统要求,采用“Windows+RTX”综合软件平台,开发转台控制系统实时软件,满足控制系统的实时性要求,解决了实时控制软件在Windows操作系统下难以运行的问题。
With the development of the aerospace and aviation industry, the precision of inertia component must be improved. As one of the most important devices to test inertia components, the performance of three-axis turntable directly relates to the reliability and confidence level of simulation and test. Consequently, its performance index is being demanded increasingly. Further, the research on the control system of three-axis turntable is important to the development of aerospace and aviation industry and national defense.
According to the specific requirements of the turntable system, this research mainly focuses on the design of three-axis turntable controller and the development of real-time control software. The research of the turntable control system based on RTX is achieved. Following are the main works and the result of the thesis:
Firstly, according to the analysis of the turntable control system's functions and principle, the overall structure of the turntable system is worked out. In terms of hardware, platform-driven system is established by the data acquisition card, D/A conversion card and industrial control system; In terms of software, the system software's architecture and framework model are determined. "Windows + RTX" to the software platform of the control system is used.
Secondly, on the basis of dynamic process, differential equations of three-axis turntable are derived by theoretical analysis. These are the base of designing and testing three-axis control system. For the coupling and non-linear characteristics of the three-axis turntable system in the operation process, the inverse system method is used to decouple the system model and the system controller is designed by BP neural network PID.
Finally, according to the requirements of the turntable control system, by analyzing the structure of the software system modules and work flow, the specific structure of the software system is constructed. Using " Windows + RTX" integrated software platform, the real-time software for the control system is exploited. It fulfils the requirements of real-time for the control system, and solves the problem that the real-time software is difficult to run under the Windows operation system.
引文
[1]邹秀斌.三轴仿真转台关键技术研究.合肥工业大学硕士学位论文2005:1-2页
[2]吴玉华.惯导测试转台的发展状况.中国科技信息.2005(8):109页
[3]R.W.Tripp.Position Measuring Transformer US Patent.1993:P2-P5
[4]吴云洁,王卫红,尔联洁.三轴设计飞行转台控制系统工程设计与研制.系统仿真学报.2002,1:97-99页
[5]谢慕君,谭旭光,杨海蓉.大功率三轴电动仿真转台控制系统的工程实现.测控技术.2008:47-49页
[6]刘春芳.三轴飞行模拟仿真转台的设计及控制问题研究.中国惯性技术学报.2003:63-66页
[7]黄庆根.国内惯导测试设备研制的几个关键技术问题.惯导测试设备技术文集.1995:1-8页
[8]藤国霖.基于RTLinUX的转台控制系统研究.微处理机.2008,2:93-95页
[9]PCI-1721快速安装使用手册:2-3页
[10]PCI-1721 12-bit,4-ch Advanced Analog Output Card User's Manual:P1-P3
[11]PCI-1784安装使用手册:1-3页
[12]PCI-1784 4_Axis Quadrature Encoder and Encoder Card User' s Manual:P1-P3.
[13]蔡德聪.工业控制计算机实时操作系统.北京:清华大学出版社,1999:4-13页,207页
[14]RTX SDK Documentation
[15]RTX Reference Guide
[16]刘延斌,金光,何惠阳.三轴仿真转台系统模型建立及解耦控制研究.哈尔滨工业大学学报.2003,35(3):323-325页
[17]曾庆双,王茂,刘升才.三轴转台框架间动力学耦合及解耦研究.中国惯性技术学报.1997,5(3):42-48页
[18]刘樾,王兴启.三轴转台运动耦合作用的仿真及实验研究.航空精密制造技术.2006,42(3):24-26页
[19]毕学涛,高等动力学.天津:天津大学出版社,1994:154-170页
[20]张劲夫,秦卫阳.高等动力学.北京:科学出版社,2004:32-54页,75-93页
[21]马智周.三轴运动模拟转台的运动学和动力学.学术论坛.2000:28-33页
[22]张锦江.三轴转台的控制问题研究.哈尔滨工业大学博士学位论文1999,5:20-25页
[23]戴先中.多变量非线性系统的神经网络逆控制方法.北京:科学出版社,2005:23页,59-69页
[24]刘金琨.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社,2004:1-10页
[25]陶永华,尹怡欣等.新型PID控制及其应用.北京:机械工业出版社,1999:136-170页
[26]Wu H X,Shen S P.Basis of theory and applications on PID Control Engineering of China,2003,10(1):P37-P42
[27]徐丽娜.神经网络控制.北京:电子工业出版社,2003:18-23页,126-129页
[28]李士勇.模糊控制、神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1998:91-99页
[29]刁宇静,黄道平.PID控制器参数自整定方法综述.广东自动化与信息工程.2002(1):1-3页
[30]王亚斌.基于BP神经网络PID控制及其仿真.江苏冶金.2008(36):33-35页
[31]韩豫萍,孙涛,盛新.基于BP神经网络PID控制及其仿真.2007:91-93页
[32]曾军,方厚辉,神经网络PID控制及其Matlab仿真.现代电子技术.2004(2):51-52页
[33]王永骥,涂健.神经元网络控制.北京:机械工业出版社,1998:303-308页
[34]夏玮,李朝晖,常春藤等.MATLAB控制系统仿真与实例详解.北京:人民邮电出版社,2008:169页-209页,262-278页,331-357页
[35]张亮,郭仕剑,王宝顺,贺兴华.MATLAB7.x系统建模与仿真.北京:人民邮电出版社,2006:23-41页,78-93页
[36]刘晓川.高校的半实物仿真系统平台Windows NT(2000)+RTX.计算机仿真.2003,20(2):46-50页
[37]路明,王平,齐智平.对Windows NT核心的实时性能的分析与测试.计算机工程与应用.2000(12):49-51页
[38]王雅娜,樊天放,曾碚凯.基于Windows系统的实时控制系统.计算机与现代化.2006(12):91-92页
[39]RTX~(TM) 6.5 Runtime and SDK Release Notes
[40]李宏科.一种基于RTX的实时系统的实现.装备制造技术.2006:55页
[41]田昊,潘清,RTX实时效果测试及应用.计算机系统应用.2007(2):103-106页
[42]CHEREPOV M,JONES C.Hard real-time with RTX on Windows NT.Processing of the 3~(rd) Windows NT Symposium.Seattle,Washington,USA:USENIX Association,1999:P103-P112
[43]RTLinux Installation and writing realtime programs in Linux1.1.2002:P3-P7
[44]C.J.Fidge.Real-time scheduling theroy[R].SVRC Services(UniQuest Pty Ltd) Consultancy Report.2002:P0036-2
[45]Ivchenko,A."Real-Time Linux" Embedded Systems Programming.2001:P8-P12
[46]谈世哲,尚绪强,赵万生.基于RTX的工业机器人全软件关节位置伺服控制器的研究.自动化技术与应用.2004(5):34-37页
[47].吴勇,熊振华,丁汉,基于RTX和MFC的后封装平台数据采集和控制系统.系统工程与电子技术.2004,26(9):1257-1261页
[48]Ardence Inc RTX User's Guide,Version:RTX v6.5 Service Pack,2005
[49]Victor Yodaiken,Michael Barabanow.A Real Time Linux.New Mexico Institute of Technology:P2-P7
[50]J.A.Stankovix.Misconceptions about real-time computing-A Serious problem for next generation systems.IEEE Computer,21(10):P10-P19
[51]闫宇状,杨祚堂.RTX在半物理仿真中的软件开发方法.兵器自动化.2006(9):89-90页
[52]王险峰,刘宝宏等.Windows环境下的多线程编程原理与应用.北京:清华大学出版社,2002:137-156页,247-286页
[53]郝文化.Windows多线程编程技术与实例.北京:中国水利水电出版社,2005:9-21页
[54]吕瑛,陈怀民,吴成富,邓红德.RTX环境下某智能串口卡驱动开发.科学技术与工程.2007,7(5):761-764页
[55]付文芳,张焱萍.RTX下PCI9052驱动程序的开发.科技广场.2006:97-100页
[2]吴玉华.惯导测试转台的发展状况.中国科技信息.2005(8):109页
[3]R.W.Tripp.Position Measuring Transformer US Patent.1993:P2-P5
[4]吴云洁,王卫红,尔联洁.三轴设计飞行转台控制系统工程设计与研制.系统仿真学报.2002,1:97-99页
[5]谢慕君,谭旭光,杨海蓉.大功率三轴电动仿真转台控制系统的工程实现.测控技术.2008:47-49页
[6]刘春芳.三轴飞行模拟仿真转台的设计及控制问题研究.中国惯性技术学报.2003:63-66页
[7]黄庆根.国内惯导测试设备研制的几个关键技术问题.惯导测试设备技术文集.1995:1-8页
[8]藤国霖.基于RTLinUX的转台控制系统研究.微处理机.2008,2:93-95页
[9]PCI-1721快速安装使用手册:2-3页
[10]PCI-1721 12-bit,4-ch Advanced Analog Output Card User's Manual:P1-P3
[11]PCI-1784安装使用手册:1-3页
[12]PCI-1784 4_Axis Quadrature Encoder and Encoder Card User' s Manual:P1-P3.
[13]蔡德聪.工业控制计算机实时操作系统.北京:清华大学出版社,1999:4-13页,207页
[14]RTX SDK Documentation
[15]RTX Reference Guide
[16]刘延斌,金光,何惠阳.三轴仿真转台系统模型建立及解耦控制研究.哈尔滨工业大学学报.2003,35(3):323-325页
[17]曾庆双,王茂,刘升才.三轴转台框架间动力学耦合及解耦研究.中国惯性技术学报.1997,5(3):42-48页
[18]刘樾,王兴启.三轴转台运动耦合作用的仿真及实验研究.航空精密制造技术.2006,42(3):24-26页
[19]毕学涛,高等动力学.天津:天津大学出版社,1994:154-170页
[20]张劲夫,秦卫阳.高等动力学.北京:科学出版社,2004:32-54页,75-93页
[21]马智周.三轴运动模拟转台的运动学和动力学.学术论坛.2000:28-33页
[22]张锦江.三轴转台的控制问题研究.哈尔滨工业大学博士学位论文1999,5:20-25页
[23]戴先中.多变量非线性系统的神经网络逆控制方法.北京:科学出版社,2005:23页,59-69页
[24]刘金琨.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社,2004:1-10页
[25]陶永华,尹怡欣等.新型PID控制及其应用.北京:机械工业出版社,1999:136-170页
[26]Wu H X,Shen S P.Basis of theory and applications on PID Control Engineering of China,2003,10(1):P37-P42
[27]徐丽娜.神经网络控制.北京:电子工业出版社,2003:18-23页,126-129页
[28]李士勇.模糊控制、神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1998:91-99页
[29]刁宇静,黄道平.PID控制器参数自整定方法综述.广东自动化与信息工程.2002(1):1-3页
[30]王亚斌.基于BP神经网络PID控制及其仿真.江苏冶金.2008(36):33-35页
[31]韩豫萍,孙涛,盛新.基于BP神经网络PID控制及其仿真.2007:91-93页
[32]曾军,方厚辉,神经网络PID控制及其Matlab仿真.现代电子技术.2004(2):51-52页
[33]王永骥,涂健.神经元网络控制.北京:机械工业出版社,1998:303-308页
[34]夏玮,李朝晖,常春藤等.MATLAB控制系统仿真与实例详解.北京:人民邮电出版社,2008:169页-209页,262-278页,331-357页
[35]张亮,郭仕剑,王宝顺,贺兴华.MATLAB7.x系统建模与仿真.北京:人民邮电出版社,2006:23-41页,78-93页
[36]刘晓川.高校的半实物仿真系统平台Windows NT(2000)+RTX.计算机仿真.2003,20(2):46-50页
[37]路明,王平,齐智平.对Windows NT核心的实时性能的分析与测试.计算机工程与应用.2000(12):49-51页
[38]王雅娜,樊天放,曾碚凯.基于Windows系统的实时控制系统.计算机与现代化.2006(12):91-92页
[39]RTX~(TM) 6.5 Runtime and SDK Release Notes
[40]李宏科.一种基于RTX的实时系统的实现.装备制造技术.2006:55页
[41]田昊,潘清,RTX实时效果测试及应用.计算机系统应用.2007(2):103-106页
[42]CHEREPOV M,JONES C.Hard real-time with RTX on Windows NT.Processing of the 3~(rd) Windows NT Symposium.Seattle,Washington,USA:USENIX Association,1999:P103-P112
[43]RTLinux Installation and writing realtime programs in Linux1.1.2002:P3-P7
[44]C.J.Fidge.Real-time scheduling theroy[R].SVRC Services(UniQuest Pty Ltd) Consultancy Report.2002:P0036-2
[45]Ivchenko,A."Real-Time Linux" Embedded Systems Programming.2001:P8-P12
[46]谈世哲,尚绪强,赵万生.基于RTX的工业机器人全软件关节位置伺服控制器的研究.自动化技术与应用.2004(5):34-37页
[47].吴勇,熊振华,丁汉,基于RTX和MFC的后封装平台数据采集和控制系统.系统工程与电子技术.2004,26(9):1257-1261页
[48]Ardence Inc RTX User's Guide,Version:RTX v6.5 Service Pack,2005
[49]Victor Yodaiken,Michael Barabanow.A Real Time Linux.New Mexico Institute of Technology:P2-P7
[50]J.A.Stankovix.Misconceptions about real-time computing-A Serious problem for next generation systems.IEEE Computer,21(10):P10-P19
[51]闫宇状,杨祚堂.RTX在半物理仿真中的软件开发方法.兵器自动化.2006(9):89-90页
[52]王险峰,刘宝宏等.Windows环境下的多线程编程原理与应用.北京:清华大学出版社,2002:137-156页,247-286页
[53]郝文化.Windows多线程编程技术与实例.北京:中国水利水电出版社,2005:9-21页
[54]吕瑛,陈怀民,吴成富,邓红德.RTX环境下某智能串口卡驱动开发.科学技术与工程.2007,7(5):761-764页
[55]付文芳,张焱萍.RTX下PCI9052驱动程序的开发.科技广场.2006:97-100页