基于加速度滞后补偿的转台控制系统应用研究

Application research on turntable control system based on acceleration delay compensation

加速度滞后补偿是提高模拟转台跟踪系统跟踪精度的一种有效方法。在建立了模拟转台的数学模型,对系统采用速度环、位置环双环路控制方法的基础上加以速度补偿和加速度滞后补偿;利用误差传递函数推算总结出速度滞后补偿和加速度滞后补偿参数与误差的关系,避免盲目试凑,为后续的加速度滞后补偿设计的参数选择提供指导及理论性参考;参照上述参数规律选择出合理的滞后补偿参数,通过仿真验证系统参数达到ts<1s、精度1%、稳定裕度γ≈60deg的指标,并且带有速度和加速度滞后补偿的系统的稳态跟踪误差为0.042°,较有无滞后补偿的系统精度提高11.76倍。

Acceleration delay compensation is an effective method to improve the tracking accuracy of the Simulation turntable tracking system.At first,this paper present the method that using the velocity and acceleration delay compensation on the basis of establishing the mathematical model of the simulation turntable and adopting double loop control method including speed loop and position loop.Secondly,provide guidance and theoretical reference for parameter selection by putting forward the relationship between error and lag compensation parameters of the velocity and acceleration delay compensation using the error transfer function and avoid blind tests and requirements.Finally,with reference to the law of the parameter select the reasonable lag compensation parameters which make the system meet the requirements of ts 〈1s,accuracy 1%and stability marginγ≈60deg by simulation.The tracking precision of the system with acceleration delay compensation can be improved by11.76 times.