船载天线跟踪系统双电机消隙技术研究

A Dual-motor Anti-backlash Algorithm Based on Tracking System of Ship-borne Antenna

针对船载天线跟踪系统,介绍了天线系统组成,指出了齿轮间隙是传动链中影响跟踪精度的关键因素。针对齿轮间隙问题,提出了一种基于速度环的双电机消隙技术,并对该双电机消隙技术进行了理论分析和实验验证。实验结果表明,该双电机消隙算法能够有效消除船载天线跟踪系统的齿轮间隙,提高天线伺服传动链精度、扩展伺服带宽,进一步提高船载天线跟踪能力。

In this paper,we aimed at satellite tracking system of ship borne antenna. Firstly,the system composition is introduced,and gear interval is the key factor that affects the tracking precision in mechanical drive chain.Aimed at gear interval,this paper gives a dual-motor anti-backlash technology based on speed loop. This algorithm is analyzed in theory and tested in experiment. The result of experiment shows that this algorithm eliminates the gear interval of ship-borne antenna tracking system effectively. Also,this algorithm improves the precision of mechanical drive chain and the bandwidth of servo system. Further,the tracking ability of ship-borne antenna is enhanced.