天基空间目标监视中转台伺服控制系统的设计

Space-Based Target Monitoring System Utilizing Turntable Servo Control

为了实现高精度目标跟踪,研制了一套以数字信号处理器(Digital Signal Processor,DSP)和现场可编程门阵列(Field Programmable Gate Array,FPGA)为双核心处理器的二维跟踪转台伺服控制系统。控制算法采用位置环和速度环的双闭环比例积分(Proportional-Integral,PI)控制,通过串联校正改善了开环系统的相角裕度和幅值裕度,提高了闭环系统的带宽,最终实现了二维转台高精度、低速平稳的控制。机构和控制器联合调试结果表明:对方位轴和俯仰轴分别做最大速度和最大加速度的正弦引导时,方位轴最大跟踪误差为0.006°,误差均方根值为3.25″;俯仰轴最大跟踪误差为0.005°,误差均方根值为3.24″。测试结果证明该控制系统能够实现二维转台的低速平稳运行,满足大型转台伺服控制系统的性能要求。

In order to achieve target tracking with high precision,this paper develops a servo control system for the two-dimensional tracking turntable which takes DSP(Digital Signal Processor)and FPGA(Field Programmable Gate Array)as dual core processors.The control algorithm adopts the double closed-loop PI(Proportional-Integral)control algorithm including position and velocity loops.The phase angle and amplitude margins of the system are improved by the cascade compensation.Finally,the two-dimensional tracking turntable is realized with high precision,low speed and stable control.The joint debugging results of the mechanism and electronics show that when the turntable is guided sinusoidally with the maximum speed and the maximum acceleration respectively,the maximum guidance error of the azimuth axis is 0.006°with the root mean square value of 3.25",and the maximum guidance error of the pitch axis is 0.005°with the root mean square value of 3.24".The test results show that the control system can realize low speed and smooth operation for the twodimensional tracking turntable and meet the performance requirements of large turntable servo control systems.