CN102929293A - Digital follow-up device for mechanized equipment and control method thereof - Google Patents
Digital follow-up device for mechanized equipment and control method thereof Download PDFInfo
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- CN102929293A CN102929293A CN201210432089XA CN201210432089A CN102929293A CN 102929293 A CN102929293 A CN 102929293A CN 201210432089X A CN201210432089X A CN 201210432089XA CN 201210432089 A CN201210432089 A CN 201210432089A CN 102929293 A CN102929293 A CN 102929293A
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Abstract
The invention discloses a digital follow-up device for mechanized equipment and a control method thereof. The digital follow-up device is composed of a digital control computer, a digital-to-analog conversion module, a power driving module, a driving motor, a coupling, the mechanized equipment, an optical-electricity encoder and a high-speed counting module which are sequentially and annularly connected along the clockwise direction. The control method of the digital follow-up device comprises steps of initializing an integrator, reading follow-up command signals and feedback signals, comparing the follow-up command signals and the feedback signals to obtain error signals, accumulating integrations of the error signals to be multiplied by integration coefficients to obtain integration products, enabling feedback signals to be multiplied by probability distribution function (PDF) coefficients to obtain a PDF product, conducting differences on the feedback signals to be multiplied by a difference coefficient to obtain a difference product, enabling the difference product to subtract the PDF product and then subtract the difference product, conducting overrun distinguishing and processing on an obtained difference value, and finally conducting digital-to-analog conversion on the difference value to obtain analog quantity control signals to control the mechanized equipment through the power driving module.
Description
The skill technical field:
The present invention relates to a kind of machinery (weapon) equipment digital servo system device and control method, particularly a kind of the digital servo system device and the control method that are applicable to machinery (weapon) equipment of the function admirable by digital machine control.
Background technology:
Hunting gear is widely used in mechanized equipment, such as index table, robot, machining apparatus etc., especially in weaponry, it and radar, director, azimuth leveler, log etc. form Fire Control Device, and its effect is to drive the weapon devices such as cannon, guided missile launcher, laser high energy weapon, rocket launcher system fire device to reach the purpose of efficiently destroying in time unfriendly target.Hunting gear is the most necessary to possess two kinds of abilities, and first is the rapid accurate ability of run-home of moment of target detection, namely must have very good dynamic response performance; Second is the steady tracking ability to target, namely near the tracking accuracy under the quiescent conditions.In order to obtain good servo-actuated control performance, hunting gear must adopt FEEDBACK CONTROL.That is to say, the relevant motion state information such as angular displacement of moving component must be through sensor feedback to the hunting gear input end in machinery (weapon) equipment, compare the generation error signal with servo-actuated command signal, and then by servo controller error signal is carried out sending control signal behind the control algorithm, the orientation (pitching) of moving component is implemented to proofread and correct.
Servo controller all is the correction calculation that increases various errors in the forward direction control loop at present.But to a kind of computing of the every increase of error, in fact servo-actuated command signal and feedback signal have increased control algorithm simultaneously in the forward direction control loop.A kind of computing of every increase of servo-actuated command signal just is equivalent to increase a forced term on the right of the dynamic equation of hunting gear, makes control device a plurality of forced term occur.Like this, hunting gear output just can not accurately reappear servo-actuated command signal.When finding target, machinery (weapon) the equipment required response time of run-home is long, and has the hyperharmonic oscillatory occurences; During target maneuver, machinery (weapon) equipment can not steady tracking, even lose objects.
Along with improving constantly of target maneuver performance, more and more higher requirement has been proposed for machinery (weapon) equipment and the various performances such as response speed, running precision, antijamming capability and automaticity of hunting gear.Current widely used traditional known follow-up control method can not meet the demands, adopts new hunting gear imperative.Particularly condition has been created in the enforcement that appears as digital hunting gear of computing machine, and how hunting gear adopts digital machine to control is one of problem to be solved.
Hunting gear only adopts digital machine control might not improve the performance of machinery (weapon) equipment, and digital machine has only provided a kind of means, and key is also which type of calculation control method the whole control algorithm of hunting gear adopts.Therefore, digital servo system device Computer how to realize novel s operation control could obtain good speed adjusting performance be in the prior art problem to be solved two.
Summary of the invention:
The objective of the invention is for above-mentioned problems of the prior art and defective, be further to improve the hunting gear performance of machinery (weapon) equipment, provide a kind of novelty by computer-controlled digital servo system device and control method for mechanized equipment.
In order to achieve the above object, the present invention realizes that the technical scheme that purpose is taked is:
A kind of digital servo system device for mechanized equipment, be comprised of digital control computer, D/A switch module, power driver module, servo-actuated topworks, photoelectric encoder and high speed counting module, wherein said servo-actuated topworks is comprised of drive motor, shaft coupling and machinery (weapon) equipment; Described digital control computer, D/A switch module, power drive unit, drive motor, shaft coupling, machinery (weapon) equipment, photoelectric encoder are connected clockwise direction annular and are connected with high speed counting module.
In order to achieve the above object, another technical solution used in the present invention is:
The control method of a kind of digital servo system device for mechanized equipment of the present invention.Described control method comprises the following steps:
(1) beginning, the initialization integrator is to the integrator zero clearing;
(2) read servo-actuated digital quantity command signal value;
(3) gather the servo-actuated output digital quantity feedback signal value of being sent here by photoelectric encoder;
(4) servo-actuated digital quantity command signal value and servo-actuated output digital quantity feedback signal value are compared obtain error signal value;
(5) error signal value is added up integration;
(6) integration that will add up multiply by integral coefficient and gets the integration product;
(7) servo-actuated output digital quantity feedback signal value be multiply by the PDF coefficient and get the PDF product;
(8) the integration product is deducted the PDF product and get for the first time difference;
(9) servo-actuated output digital quantity feedback signal value is carried out calculus of differences;
(10) difference result be multiply by difference coefficient and get the difference product;
(11) the first difference is deducted the difference product again and get for the second time difference;
(12) difference and the corresponding bound digital quantity of computing machine D/A switch are differentiated and are handled accordingly for the second time;
(13) with described second time difference carry out D/A switch and obtain analog quantity control signal value, and turn back to step (2);
(14) analog quantity control signal value is input to power driver module and drives servo-actuated topworks.
Because this servo-actuated system adopts distinguished computer control method, in forward loop, error signal value is implemented integral operation and multiplying, in backfeed loop, realize the various states information feedback of machinery (weapon) equipment output, increased substantially the performance of hunting gear to machinery (weapon) equipment control.
Advantage of the present invention and beneficial effect are:
(1) the digital servo system apparatus structure for machinery (weapon) equipment of the present invention is simple, control algolithm is unique.Not only have the feedback of the digital state information of servo-actuated variable own, and have the feedback with closely-related other two the digital state information of servo-actuated variable, altogether realized the feedback of three kinds of digital state information of servo-actuated variable.Not only convenient and easy in the engineering construction, and save cost.
(2) owing to should be used for the distinguished version of digital servo system controller and the control algolithm of machinery (weapon) equipment, improved the Static and dynamic performance of hunting gear.When finding target, can instantaneous run-home, namely dynamically the time for the instantaneous mutation of servo-actuated command signal, short and non-overshoot and oscillatory occurences of its response time; During target maneuver, can the accurate tracking target; External environmental interference and mechanical load varying type, the control performance of hunting gear changes insensitive.
(3) hunting gear among the present invention is at servo-actuated topworks characterisitic parameter quantitatively on the basis of identification, control parameter that can the quantitative adjusting hunting gear.As long as rationally adjust integral coefficient, PDF coefficient and differential coefficient in the control algorithm, just can obtain good hunting gear performance.Increase work efficiency, reduce the blindness that hunting gear is adjusted.
(4) need not reducing gear between the drive motor in the digital servo system device of the present invention and machinery (weapon) equipment, drive motor is driving device (weapon) equipment directly.Even also can directly drive when following the tracks of at a slow speed, follow the tracks of steadily without creeping phenomenon, further reduce the volume and weight of machinery (weapon) equipment.
Description of drawings
Fig. 1 is the formation block scheme of the digital servo system device that is used for machinery (weapon) equipment of the embodiment of the invention;
Fig. 2 is the control method process flow diagram of the digital servo system device that is used for machinery (weapon) equipment of the embodiment of the invention.
Embodiment:
In order to deepen the understanding of the present invention, further be described in detail below in conjunction with accompanying drawing 1 and 2 pairs of specific embodiments of the invention of accompanying drawing.
As shown in Figure 1, be the digital servo system device formation block scheme that is used for machinery (weapon) equipment of the embodiment of the invention.This digital servo system device is by digital control computer 110, D/A switch module 120, power driver module 130, servo-actuated topworks 140, photoelectric encoder 150 and high speed counting module 160 form, and wherein said servo-actuated topworks 140 is comprised of drive motor 141, shaft coupling 142 and machinery (weapon) equipment 143; Described digital control computer 110, D/A switch module 120, power driver module 130, drive motor 141, shaft coupling 142, machinery (weapon) equipment 143, photoelectric encoder 150 are connected with high speed counting module according to the order of sequence that the clockwise direction annular connects, and form the feedback assembly of closed loop.
As shown in Figure 2, be the control method process flow diagram of the digital servo system device that is used for machinery (weapon) equipment of the embodiment of the invention, described control method step is as follows:
(1) step 110 pair integrator carries out initialization process, to integrator zero clearing, i.e. INT=0;
(2) step 120 reads servo-actuated digital quantity command signal value θ R;
(3) step 130 gathers the servo-actuated output digital quantity feedback signal value θ F that is sent here by photoelectric encoder;
(4) step 140 compares servo-actuated digital quantity command signal value θ R and servo-actuated output digital quantity feedback signal value θ F and obtains error signal value, i.e. ER=θ R-θ F;
(5) add up integration, i.e. INT=INT+ER of step 150 pair error signal value;
(6) step 160 pair cumulative integration multiply by integral coefficient K
iGet integration product P1=INT*Ki;
(7) step 170 multiply by the PDF COEFFICIENT K with servo-actuated output digital quantity feedback signal value
fGet PDF product P2=ω f*Kf;
(8) step 180 deducts PDF product P2 with integration product P1 and gets for the first time difference M=P1-P2;
(9) step 190 servo-actuated output digital quantity feedback signal value θ F that photoelectric encoder is sent here carries out calculus of differences P3=Δ θ F/ Δ T;
(10) step 200 multiply by difference coefficient K with the calculus of differences result
dGet difference product P3=P3*Kd;
(11) step 210 is carried out second time subtraction and is got for the second time difference M=M-P3;
(12) step 220 is differentiated two difference and the corresponding bound digital quantity of computing machine D/A switch and is handled accordingly to 250;
(13) step 260 converts digital quantity difference signal value M to the analog signals value, and workflow turns back to again step 120 simultaneously, and so circulation is constantly carried out controlling run to hunting gear;
(14) step 270 is input to power driver module with analog quantity control signal value, thereby drive motor is controlled the motion of driving mechanical (weapon) equipment.
Because distinguished version and control algolithm, hunting gear has good Static and dynamic performance for machinery (weapon) the digital servo system controller that provides of equipment in the present invention.When finding target, can instantaneous run-home, namely dynamically the time for the instantaneous mutation of servo-actuated command signal, short and non-overshoot and oscillatory occurences of its response time; During target maneuver, can the accurate tracking target; In addition, this digital servo system device has very strong anti-external environmental interference ability.
Claims (2)
1. digital servo system device that is used for mechanized equipment, it is characterized in that: this device is comprised of digital control computer, D/A switch module, power driver module, servo-actuated topworks, photoelectric encoder and high speed counting module, and wherein said servo-actuated topworks is comprised of drive motor, shaft coupling and machinery (weapon) equipment; Described digital control computer, D/A switch module, power drive unit, drive motor, shaft coupling, mechanized equipment, photoelectric encoder are connected clockwise direction annular and are connected with high speed counting module.
2. the control method of the digital servo system device for mechanized equipment as claimed in claim 1 is characterized in that, the control step is:
(1) beginning, the initialization integrator is to the integrator zero clearing;
(2) read servo-actuated digital quantity command signal value;
(3) gather the servo-actuated output digital quantity feedback signal value of being sent here by photoelectric encoder;
(4) servo-actuated digital quantity command signal value and servo-actuated output digital quantity feedback signal value are compared obtain error signal value;
(5) error signal value is added up integration;
(6) integration that will add up multiply by integral coefficient and gets the integration product;
(7) servo-actuated output digital quantity feedback signal value be multiply by the PDF coefficient and get the PDF product;
(8) the integration product is deducted the PDF product and get for the first time difference;
(9) servo-actuated output digital quantity feedback signal value is carried out calculus of differences;
(10) difference result be multiply by difference coefficient and get the difference product;
(11) the first difference is deducted the difference product again and get for the second time difference;
(12) difference and the corresponding bound digital quantity of computing machine D/A switch are differentiated and are handled accordingly for the second time;
(13) with described second time difference carry out D/A switch and obtain analog quantity control signal value, and turn back to step (2);
(14) analog quantity control signal value is input to power driver module and drives servo-actuated topworks.
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