Design of a Three-Axis Turntable Servo Control Using Wirerope Transmission
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摘要: 针对某机载平台中钢丝绳传动带来的非线性误差及外部扰动等因素直接影响平台相机成像质量的问题，提出一种模糊自适应前馈补偿的控制策略。首先对钢丝绳传动机构和高精度直流伺服电机进行了建模，并建立了摩擦模型，为转台速度环控制回路引入模糊自适应PID控制器。设计出前馈补偿和模糊自适应控制器的复合控制策略。Matlab仿真结果以及实验表明该复合策略能有效消除飞机振动和钢丝绳非线性带来的抖动，转台的稳定精度从1 mrad提高至0.2 mrad，大幅地提高了成像质量。Abstract: Aiming at the problem of nonlinear errors and external disturbances caused by wirerope transmission in an airborne platform directly affecting the imaging quality of platform cameras, we propose a control strategy using fuzzy adaptive feedforward compensation. First, the wirerope transmission mechanism and a high-precision DC servo motor were modeled, a friction model was established, and a fuzzy adaptive proportional-integral-derivative controller was introduced for the speed loop control loop of the turntable. Based on the principles of feedforward compensation, a feedforward compensation algorithm is proposed. A compound control strategy combining feedforward compensation with a fuzzy adaptive controller is also designed. MATLAB simulation results and experiments demonstrate that this compound strategy can effectively eliminate the jitter caused by aircraft vibration and wirerope nonlinearity. The stability accuracy of the turntable is increased from 1 to 0.2 mrad, which can significantly improve imaging quality.
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Keywords:
- stabilization platform /
- fuzzy PID /
- feed forward control /
- wirerope transmission /
- adaptive control
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图 6 模糊自适应PID前馈补偿控制仿真模型
Figure 6. Fuzzy adaptive PID feedforward compensation control simulation model
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