一种快速扫描伺服系统的设计与实现

Design and Realization of Fast Scanning Servo System

针对某雷达天线需要快速机械扫描的需求,设计并实现了一种快速扫描伺服系统。硬件设计上,采用了直流力矩电机直接驱动,选择了高分辨率的增量式码盘同时完成测速和测角。软件控制策略上,采用了反馈加指令前馈的复合控制方式,利用非线性跟踪微分器完成了对码盘速度信号的平滑滤波,另外还设计了一种光滑的合成位置扫描指令。文中首先给出了系统软硬件的详细设计过程,然后进行了系统仿真和实测验证。仿真和实测结果表明,设计的扫描伺服系统不仅实现了对快速位置扫描指令的高精度跟踪,而且做到了低机械噪声的快速扫描。

Antenna fast mechanical scanning is required in a radar.According to this demand,a fast scanning servo system is designed and realized.In hardware design,DC torque motor direct-drive method is used and high resolution incremental encoder is selected to measure speed and angle simultaneously.In software control strategy design,a compound control mode of feedback plus dictate feed-forward is adopted.The encoder speed signal smoothing filtering is accomplished by utilizing no-linear tracking differentiator.Moreo ver,a smooth composite position scanning instruction is also designed.In this paper,the detailed design process of hardware and software is given,and then the system simulation and test verification are carried out.Simulation and test results show that the designed scanning servo system not only realized high precision tracking of fast position scanning command,but also achieved low mechanical noise fast scanning.