陀螺调零位置伺服系统的协同控制方法

Synergetic Control Approach for Gyro Zero Position Servo Drives

为实时消除陀螺测斜仪惯性器件常值误差的影响,使积分误差不积累,大幅度提高系统的测斜精度,需要有高精度高动态的位置伺服系统。基于电机位置伺服系统的状态空间模型,提出了一种可兼顾稳态误差和动态响应的积分型协同控制方法,该方法在宏函数中引入位置误差积分来提高稳态定位精度,实验分析了趋近律参数变化与位置响应之间的关系。结果表明,常规协同控制和积分型协同控制方法的稳态误差分别为0.03°和0.001°,并且积分型协同控制方法起动过程平稳、快速,动态特性好,验证了该控制方法的可行性和有效性。

In order to eliminate the influence of constant error produced by inertial components of gyro inclinometer in real time, and improve the precision of the system greatly without accumulation error, a high precision and high dynamic po- sition servo system is needed. Based on state space model of the motor position, a high dynamic synergetic control approach which can not only decrease the steady error, but also has good performance on dynamic response was proposed. In this novel approach, integration of position error was introduced to decrease the steady state error. The relationship between parameter variation of reaching law and system response was analyzed by the experiment. The experiment results show that the steady error of general synergetic control and the novel approach is 0.02~ and 0. 0010 , respectively. The novel approach makes the system have quick and stable starting process as well as good dynamic character, verifying that the synergetic control ap- proach is feasible and effective.