摘要
建立了复杂的三轴转台数学模型,明确了三轴转台控制参数与转台频带之间的关系。以MK46鱼雷自振荡系统为例,利用MATLAB/S imu link工具,将所建立的三轴转台数学模型闭入鱼雷滚动通道闭合回路中进行数学仿真,研究三轴转台工作频带对鱼雷控制系统动态性能的影响。仿真结果表明,当三轴转台工作频带小于振荡信号的频率时,振荡周期变宽,幅值增大,甚至影响半实物仿真系统的稳定性,同时工作频带为8Hz的三轴转台对控制系统时间常数大于0.6 s的慢变信号没有影响,并经过试验验证。该研究结果对鱼雷控制半实物仿真结果分析、实航数据对比以及研制或购置新一代三轴转台动态技术指标的确立提供了技术依据。
A mathematical model of three-axis motion table is established, and the relation between controller parameter of the three-axis motion table and motion table bandwidth is determined. Taking MK46 torpedo self-oscillating system as an example, a digital simulation is conducted with MATLAB/Simulink by inserting the three-axis motion table model into the closed circuit of torpedo rolling channel to understand the influence of bandwidth of three-axis motion table on dynamic performance of torpedo control system. Simulation result shows that when the bandwidth of three-axis motion table is below the frequency of oscillating signal, the oscillation period becomes longer, the amplitude increases, and the stability of hardware-in-the-loop simulation system may even influenced. There is no influence of the three-axis motion table with 8 Hz bandwidth on those slowly changed signals with the time constants of controlling system larger than 0.6 s. The result could be regarded as a technical basis for the result analysis of hardware-in-the-loop simulations of torpedo control, the comparison of sea trial data, and the determination of dynamic performance indexes to research or purchase new type of three-axis motion table.
出处
《鱼雷技术》
2009年第4期48-52,共5页
Torpedo Technology
关键词
鱼雷
三轴转台
工作频带
控制系统
动态性能
半实物仿真
torpedo
three-axis motion table
bandwidth
control system
dynamic performance
hardware-in-the-loop simulation
