光电跟踪转台控制方法研究与实现

Research and Implementation of Control Method for Opto-electronic Tracking Turntable

针对某双轴光电跟踪转台伺服控制系统,提出了一种基于复合控制的高带宽高精度伺服控制方法。位置环路设计了PI+双滞后的串联校正,提高稳态跟踪精度;速度环路设计了PI+超前环节的串联校正,提升系统的带宽,加快速度响应;电流环采用传统PID控制,通过一阶巴特沃斯滤波器进行滤波;在速度的前向通道上根据目标误差通过高增益微分器和低通滤波预估速度,进行前馈补偿实现复合控制,增强了速度环路的快速性。仿真结果和实践证明,该控制方法有效提高了跟踪控制系统的带宽和稳态精度。

Aiming at a double axis opto-electronic tracking turntable servo control system,a high bandwidth and high accuracy servo control method based on composite control is proposed.The position loop is designed with PI and double lag series correction to improve the steady-state tracking accuracy.The speed loop is designed with series correction of PI and leading link to improve the system bandwidth and speed response.The current loop adopted traditional PID control and is filtered by a first-order Butterworth filter.On the forward channel of speed,the speed is estimated by high gain differentiator and low-pass filter according to the target error,and the feed forward compensation is used to achieve composite control,which enhances the rapidity of the speed loop.Simulation results and practice show that the control method effectively improved the bandwidth and steady-state accuracy of the tracking control system.