.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.