基于卧式转台的舵片滚转姿态控制

Rudder Roll Attitude Control Based on Horizontal Turntable

为实现旋转舵机的滚转角度姿态控制,搭建了适合旋转舵机的卧式转台,根据舵机的不同转速,通过调节修正电机的占空比来对舵机的输出力矩进行控制。利用实验数据拟合出PWM值(脉冲宽度调制)和舵机旋转力矩的函数关系式,并且计算了不同弹体转速下舵机旋转力矩的初值,进而完成高速减旋、低速减旋、定角度停止等修正控制。通过应用Matlab对舵片旋转角度测量数据进行分析,表明该控制方法可以实现舵机滚转角度姿态控制,并且控制角度误差在合理实验范围内,达到了良好的控制效果。

In order to control the roll angle and attitude of the rotary steering gear, a horizontal turntable suitable for a rotary steering gear was built. According to the different rotation speeds of the steering gear, the output torque of the steering gear is controlled by adjusting the duty ratio of the correction motor. The experimental data was used to fit the functional relationship between the PWM value (pulse width modulation) and the steering torque of the servo, and the initial values of the rotational torque of the servo under different missile rotation speeds were calculated, and the high-speed spin reduction, low-speed spin reduction, and finalization were completed. Angle stop and other correction control. By using Matlab to analyze the measurement data of the rudder rotation angle, it is shown that this control method can realize the steering angle control of the servo, and the control angle error is within the reasonable experimental range, and has achieved a good control effect.