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硕士论文-舰载跟踪雷达二自由度数字伺服系统的设计，正文共90页。
【摘要】 跟踪雷达伺服系统是跟踪雷达的重要组成部分,其性能好坏直接影响雷达的跟踪精度。现代导弹、飞机等雷达跟踪的目标飞行速度越来越快,机动性越来越强,对跟踪雷达伺服系统的动态响应能力提出了更高的要求；舰载跟踪雷达伺服系统除了要应对风力矩干扰、测量噪声、参数变化等因素的影响外,还要受到船摇的影响,对伺服系统的抗扰动能力要求也很高。传统的单自由度控制器很难同时兼顾系统对跟踪参考输入信号及抑制扰动的要求,二自由度控制器能将跟踪特性和扰动抑制特性分别进行调整,从而提高控制品质。在不影响系统鲁棒性的前提下希望进一步提高系统跟踪参考输入信号的能力,二自由度控制器是值得尝试的选择。论文应用二自由度控制器理论,选用光纤陀螺作为惯性空间速度传感器,设计了基于TMS320F28335 DSP的全数字跟踪雷达伺服系统。本文提出了一种基于单自由度系统阶跃响应曲线设计确定二自由度系统前馈控制器的方法；对光纤陀螺的数字闭环进行了研究；应用MATLAB/Simulink采用经典频域分析法对伺服系统方位支路的电流环、速度环、位置环进行了设计和仿真,得到了各环路数学模型及控制器的传递函数；针对雷达跟踪状态下,为使伺服系统更快的响应跟踪误差及由再生反馈技术得到的辅助跟踪角速度信号以减小跟踪高速目标的动态滞后,将速度环路设计为二自由度控制结构,仿真结果验证了二自由度控制结构对于提升系统动态性能的显著作用；对速度环进行了灵敏度分析,验证了系统良好的鲁棒性；给出了一种抗积分饱和控制器,仿真结果验证了其有效性。本文在硬件设计部分,详细阐述了以TMS320F28335 DSP为核心的伺服处理器的设计,处理器与各传感器的接口设计,PWM功放电路的设计,RDC变换器的设计。在软件设计部分,利用串行通讯接口模块(SCI)的硬件中断实现与光纤陀螺的高速异步串行通讯；设计了两个定时器中断,一个定时器中断用来处理电枢电流信号高频率的A/D变换,各环路控制器不同速率的调节以及PWM信号输出的问题；另一个定时器中断用来完成RDC粗、精码值的读取与合成,与雷达计算机的并行通讯,伺服系统各工作状态模块的执行等任务；对连续系统控制器传递函数进行了数字化及程序实现的研究。实现了电流环的数字化。对伺服系统进行了隔离度及跟踪模拟动目标实验。隔离度实验验证了伺服系统良好的外部扰动抑制能力；跟踪模拟动目标实验测试了系统的动态跟踪精度。
【Abstract】 The servo system of a tracking radar is an important portion of the radar,and its performance affects the precision of the radar directly. With the increase of the velocity and maneuvering of the moving targets such as modern missiles, aircrafts,it requires dynamic performance of the servo system more and more. The servo system of shipboard tracking radar must deal with not noly wind torque disturbance,measurement noise,and parameter changes,but also ship shaking,which require good robustness of the servo system. It is difficult to ensure the capability of reference signal tracking and the capability of disturbances attenuation simultaneously for traditional single degree of freedom controller, the tracking of reference signal and the attenuation of disturbances are adjusted separately to improve the quality of control by two degrees of freedom control structure. In order to improve the tracking performance without changing robustness of the system,two degrees of freedom controller is worth trying.In this paper,the theory of two degrees of freedom controller is applied,FOG is used as velocity sensor,a full digital servo system based on TMS320F28335 DSP is designed. A method of determining feedforward controller of two degrees of freedom system based on step response curve of single degree of freedom system is proposed. Digital closed-loop FOG is researched. Azimuth servo system is designed by using classic frequency domain analysis method, each loop mathematical model and controller transfer function are obtained by using MATLAB/Simulink. For radar tracking state, in order to reduce the dynamic lag by making the system responds to tracking error and angular velocity signal faster, two degrees of freedom control structure is established for the velocity loop, simulation results show that dynamic performance of the system is enhanced apparently by two degrees of freedom control structure. The robustness of the system is verified by sensitivity analysis. One anti-windup controller is introduced, simulation results show its effectiveness.In hardware design,servo processor design based on TMS320F28335 DSP, interfaces of the processor and sensors design,PWM power amplifier design,and RDC converter design are described in detail.In software design,High-speed asynchronous serial communication with FOG is realized by SCI hardware interrupts.Two timer interrupts is designed,one timer interrupt handles high-frequency A/D conversion of armature current signal,different rates of each loop controller regulation,and the output of PWM signals,the other timer interrupt handles synthesis of RDC codes,parallel communication with radar computer,the implementation of the work state modules of the servo system. Discretization and computer implementation of controller transfer function is researched.Digital current loop is realized.Isolation experiment and the tracking of simulated moving target experiment are carried out. Isolation experiment illustrates that the servo system has good disturbance attenuation capability, the tracking of simulated moving target experiment tests dynamic tracking accuracy of the servo system.
【关键词】 二自由度控制器； 数字伺服系统； DSP； 光纤陀螺； 前馈控制器； 跟踪； 灵敏度分析； 鲁棒性； 抗积分饱和；
【Key words】 two degrees of freedom controller； digital servo system； DSP； FOG； feedforward controller； tracking； sensitivity analysis； robustness； anti-windup；