摘要
针对一种通过电磁线圈吸附扭簧旋转变形而偏转的微型欠阻尼转台难以进行高精度和高响应控制的难题,根据被控对象的结构特性,建立转台伺服系统的数学模型,采用“位置-电流”双闭环的控制方法对位置环、电流环进行闭环控制;在电流环加入位置微分反馈,增加系统的速度阻尼以抑制系统欠阻尼振荡;借助FPGA的高速并行运算能力,同时结合输入前馈控制方法以提升系统的响应速度;分析选用经典线性控制策略来作为线圈的驱动方式,从根本上避免电流波动,进一步提升控制算法的控制精度。最后,对系统的位置环动静态跟踪能力进行了实验验证。研究结果表明,采用该设计的控制算法,系统可满足500Hz@0.01°的角度动态特性,0.0001°的静态控制精度,极大提升了该微型欠阻尼转台的响应速度和控制精度。
Aiming at the problem that the micro underdamped platform deflected by the electromagnetic coil to attract the tor⁃sion spring is difficult to perform high precision and high response control,according to the structural characteristics of the con⁃trolled object,the overall mathematical model of the turntable servo system is established,and the position-current double closed loop is used.Position differential feedback is added to the current loop to increase the speed damping of the system to suppress the under-damped oscillation of the system.The high-speed parallel operation ability of the FPGA is used,and the input feedforward control method is combined to improve the response speed of the system.The classical linear control strategy is selected as the driv⁃ing method of the coil,which fundamentally avoids current fluctuation and further improves the control precision of the control algo⁃rithm.Finally,the experimental analysis of the positional dynamic tracking ability of the system are carried out.The research results show that the system can meet the angular dynamic characteristics of 500Hz@0.01°and the static control precision of 0.0001°,which greatly improves the response speed and control precision.
作者
逯轩
杨晓青
石然
张得礼
方振丰
LU Xuan;YANG Xiaoqing;SHI Ran;ZHANG Deli;FANG Zhenfeng(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016;Shanghai Institute of Aerospace System Engineering,Shanghai 201109;Shanghai Institute of Spaceflight Control Technology,Shanghai 201109;Shanghai Engineering Research Center of Inertial,Shanghai 201109)
出处
《舰船电子工程》
2020年第11期58-63,共6页
Ship Electronic Engineering
基金
江苏省研究生科研与实践创新计划项目(编号:SJCX18_0105)资助。