数字PID控制在天线伺服系统中的应用

Application of Digital PID Control in Antenna Servo System

天线伺服系统的作用是实现对目标的快速捕获和稳定跟踪,其采用电流环、速度环和位置环三环控制结构,通过双电机消隙,并进行速度同步控制。天线伺服系统可采用数字PID控制,分析其算法原理及其算法流程,给出一种PID参数整定方法,并应用该方法对某4.5米天线进行了PID参数整定,在此基础上,基于过渡过程曲线实测结果,总结出了PID参数对天线过渡过程的影响情况,对天线伺服系统PID参数的整定具有实际指导意义。

The function of the antenna servo system is to capture fleetly and track stably the target. It adopts the three loop control structure composed of current loop, speed loop and position loop and uses the double motor to achieve transmission clearance elimination, and thus the speed synchronization control proceeds. Antenna servo system using digital PID control, analyzes its algorithm principle and algorithm flow, and also presents a kind of PID parameter tuning method in the worksite trial. The method was applied to the PID parameter tuning of a 4.5 meter antenna, and based on the measured result of the transition curve, the paper summed up the impact of the PID parameter on antenna transition, which has practical significance of guiding antenna servo control system PID parameter tuning.