光电经纬仪伺服系统动态高型控制

Dynamic high-type control for the servo system of an photoelectric theodolite

光电经纬仪伺服系统一般是位置、速度双闭的随动系统,其跟踪精度和动态响应能力是衡量系统性能的重要标志。动态高型方法在原有控制系统基础上增加一个或多个积分环节构成高型系统,从而减小跟踪误差。将动态高型方法应用于光电经纬仪伺服系统中,从理论、仿真到工程实现进行了比较全面的研究,获得了一些具有独创性的结论。最后进行了动态III型系统的跟踪能力Matlab仿真。当目标为最大加速度60(°)/s2、最大速度60(°)/s的等效正弦时,稳态跟踪误差达1.3,″对于最大加速度120(°)/s2、最大速度120(°)/s的等效正弦,仿真稳态跟踪误差达24″。

The servo system of a photoelectric theodolite is usually a servomechanism composed of double loops of speed and position. Both the tracking precision and the dynamic response are important indexes of its performance. A new high - type system is formed by adding one or two integral steps to the original control system dynamically, in which the tracking error can be decreased. We used the Dynamic High - Type Control （DHTC） in the photoelectric theodolite tracking system, carried out study on theory, simulation and engineering realization, obtained some original conclusions. The tracking ability of a dynamic Ⅲ -type system was studied by Matlab simulation. When the input is an equalized sinusoid with the maximum acceleration 60（°）/s^2 and the maximum speed 60（ °）/s, the static tracking error of the system is 1. 3″ ; while with the maximum acceleration 120（ °）/s^2 and the maximum speed 120（°）/s, the tracking error is about 24″.