基于compactRIO车载跟瞄装置控制系统实现-控制理论与控制工程专业论文.docxVIP

Abstract This thesis is mainly about the design of a mobile ATP (acquisition/tracking/ pointing) system’s control system. The core of the control system is a real-time controller called CompactRIO, a product produced by the National Instrument. At first, the components of the big system’s hardware are introduced. Then, an insight into some details of the control system’s critical parts is given. Later, the programs of four main sub-systems (PC, CompactRIO, FPGA and Cellos) are provided in a module by module manner. The use case diagrams, activity diagrams and component diagrams with their design ideas are also shown. At last, we talk about the semi-singularity problem. Some simulations and tests about its real-time avoidance strategy are given. Key words: ATP, CompactRIO, Semi-Singularity 目录 HYPERLINK \l _bookmark0 第一章 绪论 1 HYPERLINK \l _bookmark1 1.1 研究背景 1 HYPERLINK \l _bookmark2 1.2 光电跟踪系统国外研究现状 1 HYPERLINK \l _bookmark3 1.3 课题来源及本文的主要工作 2 HYPERLINK \l _bookmark4 1.4 小结 3 HYPERLINK \l _bookmark5 第二章 车载跟瞄系统硬件组成 5 HYPERLINK \l _bookmark6 2.1 大系统组件介绍 5 HYPERLINK \l _bookmark7 2.2 伺服驱动器介绍 7 HYPERLINK \l _bookmark8 CCD 系统介绍 8 HYPERLINK \l _bookmark9 CompactRIO 实时控制器介绍 9 HYPERLINK \l _bookmark10 CompactRIO 控制器 9 HYPERLINK \l _bookmark11 CompactRIO 优点 10 HYPERLINK \l _bookmark12 CompactRIO 应用领域 11 HYPERLINK \l _bookmark13 2.5 上下位机通讯硬件介绍 11 HYPERLINK \l _bookmark14 2.5.1 CAN 总线硬件系统个别模块介绍 12 HYPERLINK \l _bookmark15 2.5.2 CAN 总线收发模块 12 HYPERLINK \l _bookmark16 2.5.3 转接滑环 12 HYPERLINK \l _bookmark17 2.6 小结 13 HYPERLINK \l _bookmark18 第三章 控制系统软件设计 15 HYPERLINK \l _bookmark19 3.1 跟瞄系统的软件程序概览 15 HYPERLINK \l _bookmark20 3.1.1 LabVIEW 简介 15 HYPERLINK \l _bookmark21 3.1.2 车载跟瞄系统用例图 16 HYPERLINK \l _bookmark22 3.2 PC 部分软件程序设计 18 HYPERLINK \l _bookmark23 3.2.1 前面板设计 18 HYPERLINK \l _bookmark24 设计思想 18 HYPERLINK \l _bookmark25 前面板组件 19 HYPERLINK \l _bookmark26 3.2.2 PC 系统对外信号流 20 HYPERLINK \l _bookmark27 视频流 20 HYPERLINK \l _bo