Structure and Control System Design for Two Axes Horizontal Coarse Tracking Frame
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摘要: 根据天基平台激光辐照空间碎片捕获系统的应用需求，设计了一种两轴水平框架式粗跟踪结构，提出了一种基于加速度闭环的PI速度环控制方法用于实现跟踪系统的闭环高带宽控制和高精度跟踪。首先，根据光束传播路径和负载几何尺寸要求设计了水平式粗跟踪框架的经纬轴结构，并对单轴结构进行了模型简化，建立了单轴二质阻尼刚度简化模型的动力学方程；对系统进行了振动分析，根据系统的谐振频率和电机锁定转动频率确定了跟踪架主要结构参数；设计了一种速度加速度双闭环控制系统，确定了系统控制器和控制参数；最后对控制系统进行了性能测试。测试结果显示，控制系统满足性能指标要求，相较于带有结构滤波器的PI速度环控制系统，带宽提升了28.2%；基于加速度闭环的PI速度环控制系统在调节时间上提升了78.6%，超调量降低了94.08%；基于加速度闭环的PI位置环控制系统的调节时间为0.085 s，超调量为11.66%，具备较小的跟踪误差和较强的抗干扰能力。Abstract: A two-axis horizontal frame coarse tracking was designed using the application requirements of space debris capture systems. A PI speed loop control method based on closed-loop acceleration was proposed to realize closed-loop high bandwidth control and high-precision tracking accuracy. First, the horizontal coarse tracking frame was designed based on the beam propagation path and geometric load size requirements. The model of the single-axis structure was simplified, and a dynamic equation for the simplified model of the damping stiffness of the two-dimensional single axis was established. Subsequently, vibration analysis was performed to determine the resonance frequency, locked rotation frequency, and main structural parameters of the tracking frame. Third, a double closed-loop control system with velocity and acceleration feedback was designed, and the parameters of the control system were determined. Finally, a performance test of the control system was conducted. The results showed that the control system meets the performance demands. The bandwidth of the control system was 28.2% greater than that of the PI speed loop control system. The PI speed loop control system based on closed-loop acceleration improved the adjustment time by 78.6% and reduced the overshoot by 94.08%. The PI position loop control system based on closed-loop acceleration had an adjustment time of 0.085 s and an overshot of 11.66%, which exhibited a small tracking error and strong anti-interference ability.
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Key words:
- space based platform /
- course tracking /
- structural design /
- high bandwidth control
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图 7 PI速度环控制系统开环频率特性曲线
Figure 7. Open loop frequency characteristic curve of PI control system
图 9 不完全微分PID速度环控制系统的开环频率特性曲线
Figure 9. Open loop frequency characteristic curve of incomplete differential PID speed loop control system
图 10 基于加速度闭环的PI速度环控制系统
Figure 10. PI velocity loop control system based on acceleration closed loop
图 11 基于加速度闭环的PI速度环控制系统的开环频率特性曲线
Figure 11. The open loop frequency characteristic curve of PI speed loop control system based on acceleration closed loop
图 12 基于加速度闭环的PI位置环控制系统
Figure 12. PI position loop control system based on acceleration closed loop
图 13 带有结构滤波器的PI速度环控制系统闭环频率特性
Figure 13. Closed-loop frequency characteristics of PI speed loop control system with structured filter
图 14 不完全微分PID速度环控制系统闭环频率特性
Figure 14. Closed-loop frequency characteristics of incomplete differential PID speed loop control system
图 15 基于加速度闭环的PI速度环控制系统闭环频率特性
Figure 15. Closed-loop frequency characteristics of PI speed loop control system based on acceleration closed-loop
图 17 基于加速度闭环的PI位置环控制系统闭环频率特性
Figure 17. Closed-loop frequency characteristics of PI position loop control system based on acceleration closed-loop
图 18 基于加速度闭环的PI位置环控制系统单位阶跃响应曲线
Figure 18. Unit step response curve of PI position loop control system based on acceleration closed loop
图 19 基于加速度闭环的PI位置环控制系统的simulink仿真模型
Figure 19. Simulink simulation model of PI position loop control system based on acceleration closed loop
表 1 跟踪架设计指标要求
Table 1. Tracking frame design index requirements
Index Parameters Weft axle load /kg 50 Weft bandwidth/Hz 10 Beam load/kg 100 Beam bandwidth/Hz 8 
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表 2 跟踪架参数指标
Table 2. Tracking frame parameter index
Symbolic
parameterParameter
valuesParameter meaning J1 0.39 Motor moment of inertia J2 18 Minimum moment of inertia of load k 3017.7 Motor and load connection stiffness c 0.707 Motor and load connection damping coefficient
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