钢丝绳传动的三轴转台伺服控制的设计

王凯; 孔德杰; 宋悦铭; 王国华; 沈宏海; 王浩

钢丝绳传动的三轴转台伺服控制的设计

1.
长春理工大学光电工程学院，吉林长春 130012
2.
中国科学院长春光学精密机械与物理研究所，吉林长春 130033

基金项目: 国家重点研发计划项目

详细信息

作者简介:
王凯（1995-），男，硕士研究生，从事光电平台惯性空间稳定控制的研究。E-mail: kai950912@163.com

通讯作者:
孔德杰（1978-），男，副教授，博士，从事各型光电转台、惯性空间姿态控制和伺服驱动器的研究。E-mail: 13578900198@126.com

中图分类号: TP273
计量
- 文章访问数: 130
- HTML全文浏览量: 37
- PDF下载量: 21
- 被引次数: 0
出版历程
- 收稿日期: 2021-09-26
- 修回日期: 2021-11-08
- 刊出日期: 2022-01-20

Design of a Three-Axis Turntable Servo Control Using Wirerope Transmission

1.
School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 1300012, China
2.
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China

摘要

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。
- 稳定平台 /
- 模糊PID /
- 前馈控制 /
- 钢丝绳传动 /
- 自适应控制
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.
- stabilization platform /
- fuzzy PID /
- feed forward control /
- wirerope transmission /
- adaptive control

HTML全文

图 1 钢丝绳传动示意图

Figure 1. Wirerope transmission diagram

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图 2 钢丝绳传动结构图

Figure 2. Schematic representation of wirerope transmission

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图 3 模糊控制原理结构图

Figure 3. Fuzzy control principle structure diagram

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图 4 模糊自适应前馈控制框图

Figure 4. Block diagram of fuzzy adaptive feedforward control

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图 5 传统PID控制仿真模型

Figure 5. Traditional PID control simulation model

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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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图 7 仿真结果图

Figure 7. Simulation result graph

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图 8 摇摆台实验设备示意图

Figure 8. Schematic diagram of swing table experimental equipment

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图 9 自准直仪输出曲线

Figure 9. Autocollimator output curves

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图 10 平行光管实验

Figure 10. Schematic diagram of collimator experiment

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图 11 靶标对比图

Figure 11. Target comparison chart

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