T型转台复合轴控制系统设计与优化

Design and Optimization of Compound Axis Control System on T-type Turntable

与U型台相比,T型转台具有高度低,质量轻等优点,但由于负载不均衡,它的控制器较难设计。介绍了一种T型转台复合轴控制系统的设计与优化,转台速度环采用"PI+超前算法",提高系统穿越频率,改善系统动态性能,同时针对周期性低频扰动进行实时动态补偿,降低扰动对误差的影响。位置环小误差范围采用"PI+多重滞后环节"串联校正,低频增益提高。并分析T型转台的复合轴控制方法,在高精度跟瞄系统中仿真验证,最终应用于某光电跟瞄转台,跟踪精度优于10μrad(RMS)。

Compared with a U-type electro-optical turntable, T-type turntable is characterized by lower height and lighter weight. However, it is difficult to design the controller due to unbalanced load. The design and optimization of a T-type turntable compound axis system is introduced. The proportional integral(PI) and lead algorithm is used in the turntable speed loop to increase the crossover frequency and improve the dynamic performance of the system. Simultaneously, it can perform real-time dynamic compensation to periodic low-frequency disturbance to reduce the impact of disturbance on error. The small error range of the position loop is corrected in series with PI and multiple lag links, and the low-frequency gain is improved. And the compound axis control method of the T-type turntable is analyzed, which is simulated and verified in high-precision tracking and pointing system. At last, the Ttype turntable is used in an electro-optical tracking and pointing turntable, and the tracking accuracy is better than10 μrad root mean square(RMS).