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标题：基于STM32的交流伺服系统冗余控制研究 |
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作者：赵荣，侯远龙，侯润民 |
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| 2017年第2期 访问次数：912次 |
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摘要：针对炮控系统工作环境对交流伺服系统的高稳定性和可靠性要求，单一的控制系统已经难以满足要求，提出了双CPU的软硬件冗余控制的方案。使用STM32F107VCT6作为控制器芯片，设计两套硬件电路，形成双CPU的硬件冗余方案。设计了基于BP神经网络的PID控制算法，主系统和备用系统都采用该控制算法，形成软件冗余。主系统和备用系统间通过CAN进行通信，运用解析式的故障检测法对主系统和备用系统的输出进行实时比较，设定门限误差值，当超过门限误差时，自动进行系统的热切换，保证控制系统的稳定和可靠。
关键词：交流伺服系统；冗余控制；BP神经网络；解析故障检测
Abstract: For the high stability and reliability requirements of gun control system in the working environment, single control system has difficult to meet the requirements, and proposed the method of dual CPU software and hardware redundancy control. By using STM32F107VCT6 as the controller chip, two sets of hardware circuits were designed to form a dual CPU hardware redundancy scheme. The PID control algorithm based on BP neural network were designed too, and the main system and standby system adopted this control algorithm to form the software redundancy. Communication between the main system and standby system via CAN. Using analytical fault detection method to compare primary and standby system outputs and setting threshold error, when the output exceeds the threshold error, the system carries out the thermal switch automatically.
Key words: AC servo system; redundant control; BP neural network; analytical fault detection
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