大惯量低刚度转台的扫描控制

Scanning control of large inertia and low stiffness turntable

受限于机载系统的搭载要求,红外搜索跟踪系统的伺服转台惯量大,刚度低,本文提出了一种基于五次曲线的大惯量低刚度伺服搜索控制算法。研究在分析了传统变速控制算法的基础上,利用五次曲线的加减速控制模型进行转台加减速、回转等摆扫控制,分别对比了线性摆扫控制算法、S曲线算法、五次曲线摆扫控制算法的性能和搜索成像效果。实验结果表明,采用五次曲线摆扫控制模型的系统能快速达到设定预值,在100 ms时间内能够由静止加速到≮100°/s,且速度误差不大于0.1‰,有效缓解系统的超调,降低稳定调节时间,成像效果清晰,系统的动态性能得到提升。

The servo turntable of infra-red search and track(IRST)systems is of large inertia and low stiffness due to limitations of airborne systems.A quintic curve-based search control algorithm for servo of large inertia and low stiffness is proposed in this paper.On the basis of analysis of traditional speed control algorithms,turntable acceleration and deceleration,swing and other swing-sweep control is achieved using the acceleration and deceleration control model of the quintic curve.The performance,searching and imaging effect of the linear swing-sweep control algorithm,7-segment S-shape curve algorithm and quintic curve swing-sweep control algorithm are compared respectively.The experimental results show that the system adopting quintic curve swing-sweep control can reach the preset value rapidly,and is able to accelerate from zero to≮100°/s within 100 ms with velocity error no larger than 0.1‰.Therefore,it can effectively relieve system overshoot,reduce the time for stability adjustment,while showing good imaging effect and improved dynamic performance of the system.