基于积分分离PID的经纬仪轴系复合控制系统

Compound Control System of Theodolite's Axis Based on Integral Separation PID

轴系高精度驱动是实现电子经纬仪目标自动照准的关键技术,轴系电动机直流伺服系统的设计则是其重要环节。根据多回路伺服原理和校正设计方法,建立了经纬仪轴系电动机多回路复合控制系统的数学模型。其中,三闭环控制结构包括电流环、速度环和位置环,位置环采用积分分离PID控制方法,使系统的阶跃响应超调量仅为0.4%。同时,在三闭环结构基础上又引入了前馈反馈和负载力矩干扰补偿,构成了复合控制系统。Simulink仿真结果表明,提出的方法使该系统具备良好的响应速度和控制精度。

The axis high precision drive is a key technology to achieve the automatic collimation of electronic theodolite and the de- sign ot the axis DC motor servo system is also valued. According to the principle of multi-loop serve control and correction method, the mathematical model of the multi-loop compound control system of theodolite＇ s axis is established. The control structure of three closed loops includes a current loop, velocity loop and position loop. The integral separation PID control method is adopted in the po- sition loop, its result is that the overshoot of the system step response is only 0.4%. Based on the three closed loops structure, the system also includes subsystems of feedforward and disturbance compensation for load torque, which forming a compound control system. The Simulink simulation results show that the perfect response speed and control precision existin the system based on the method.