CN112033233A - Indirect drive high-precision servo implementation method under nonlinear interference - Google Patents
Indirect drive high-precision servo implementation method under nonlinear interference Download PDFInfo
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- CN112033233A CN112033233A CN202010732428.0A CN202010732428A CN112033233A CN 112033233 A CN112033233 A CN 112033233A CN 202010732428 A CN202010732428 A CN 202010732428A CN 112033233 A CN112033233 A CN 112033233A
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- stable platform
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
Abstract
The invention discloses a method for realizing indirect drive high-precision servo under nonlinear interference, which belongs to the technical field of seeker stabilized platforms and can solve the problem of poor servo performance caused by nonlinear interference torque, gear drive backlash, friction torque and other factors caused by a through-axis cable. The through-axis cable adopted by the stable platform is in a spiral wiring mode; the method comprises the following steps: and constructing an ideal system model of the stable platform, and calibrating the ideal system model to obtain a transfer function G0 of the ideal system model. And performing servo control on a stable platform of the seeker by adopting a servo control algorithm, comparing the angular velocity v of the frame with the polarity of the output voltage u of the motor, and superposing backlash compensation in the control quantity calculated by the servo control algorithm when the polarities of v and u are different. And (3) performing superposition interference compensation d on the control quantity calculated by the servo control algorithm according to the difference e between the input quantity and the output quantity of the stable platform.
Description
Technical Field
The invention relates to the technical field of seeker stabilization platforms, in particular to an indirect drive high-precision servo implementation method under nonlinear interference.
Background
The seeker is used as a key component of a guided weapon and comprises a stable platform, a target detector camera, a thermal infrared imager, a radar, a laser and the like and a target tracker. The stable platform is used as a part of the seeker, bears various optical and radar sensors, isolates external disturbance, ensures that the detector has clear imaging and the tracker has stable tracking. Meanwhile, a servo mechanism of the stable platform can quickly respond to the received instruction, and timely searching or target pointing is ensured. With the continuous progress of the technology and the more complex application environment, the seeker is developed towards miniaturization and compounding. The requirement for a stable platform is higher, and the miniaturization generally leads the stable platform to abandon a motor direct drive structure and use indirect drive instead; the composite structure leads signal lines in the platform to be increased, a large number of cables, particularly coaxial cables, penetrate through the servo rotating shaft, nonlinear interference torque caused by friction and deformation is increased, and challenges are brought to the realization of precision and stable indexes of a servo system.
The stabilized platform is to achieve isolation of disturbance and pointing targets, and is to be capable of moving in at least both horizontal and vertical directions, i.e. it comprises at least two mutually orthogonal frames, called azimuth frame and pitch frame. The azimuth frame bears various target detectors, the azimuth motor drives the azimuth frame to rotate horizontally, and the rotating angle and the rotating angular speed of the frame are measured by the azimuth rotary transformer and the azimuth gyroscope. The angle measured by the azimuth code disc is the azimuth frame angle. The whole azimuth frame is used as a load and is arranged on a rotating shaft of the pitching frame, and the pitching motor adopts a gear transmission mode to indirectly drive the load due to large load inertia and limited space. The pitching frame is also provided with a pitching rotary transformer for measuring the angle and a pitching gyroscope for measuring the angular speed. The azimuth motor, the azimuth rotary transformer, the azimuth gyroscope, the pitching voltage, the pitching rotary transformer and the pitching gyroscope are all connected to the servo circuit board through cables, closed-loop operation is carried out through a servo control algorithm in the processing chip, and the servo function of the stable platform is achieved. The servo circuit board is installed on the stable platform base, and the cables of the motor, the rotary transformer and the gyroscope of the azimuth frame can be connected to the servo circuit board only by penetrating through the pitching frame shaft. And the target detector carried in the azimuth frame can be connected to the target tracker on the base of the stable platform only by passing through the azimuth axis and the pitching axis. Usually, the signal cable of the target probe is a rigid coaxial cable, which generates a large elastic and frictional disturbing torque.
Therefore, how to implement a servo stabilization platform with high precision and strong robustness under nonlinear interference and indirect driving is a problem to be solved urgently at present.
Disclosure of Invention
In view of the above, the invention provides a method for implementing indirect drive high-precision servo under nonlinear interference, which can solve the problem of poor servo performance caused by nonlinear interference torque caused by a through-axis cable, gear transmission backlash, friction torque and other factors.
In order to achieve the purpose, the technical scheme of the invention is as follows: a high-precision servo implementation method of indirect drive under nonlinear interference is used for servo control of a stable platform of a seeker, wherein the stable platform comprises a motor, a frame and a gear drive structure, the gear drive structure comprises a drive end gear and a load end gear which are meshed with each other, the drive end gear is sleeved on an output shaft of the motor, the load end gear is sleeved on a drive shaft of the frame, and a shaft penetrating cable adopted by the stable platform is in a spiral wiring mode; the method comprises the following steps:
constructing an ideal system model of a stable platform, which specifically comprises the following steps: and taking out the shaft penetrating cable in the stable platform, adopting an external connection mode to replace a shaft penetrating connection mode, and directly connecting an output shaft of the motor with a driving shaft of the frame to realize direct drive of the frame.
And calibrating the ideal system model to obtain the transfer function G0 of the ideal system model.
Performing servo control on a stable platform of the seeker by adopting a servo control algorithm, comparing the angular velocity v of the frame with the polarity of the output voltage u of the motor, and when the polarities of v and u are different, superposing null return compensation in the control quantity calculated by the servo control algorithm, wherein the value of the null return compensation is kXu, and k is a preset adjustable parameter; when v and u have the same polarity, the backlash compensation is set to 0.
The control quantity calculated by the servo control algorithm is subjected to superposition interference compensation d according to the difference e between the input quantity and the output quantity of the stable platform;
and (4) setting.
Where H is the inverse of the transfer function G0; a is a set first adjustable parameter; b is a set second adjustable parameter; c is a set third adjustable parameter; t is a set fourth adjustable parameter; e1 is setting a first threshold; e2 is a set second adjustable threshold, e2 is less than e 1; s is the complex variable of the transfer function G0.
Further, the through-axis cable that the stable platform adopted specifically is for spiral wiring mode:
the rotating shaft is circumferentially provided with a movable inner baffle, and the movable inner baffle is provided with an opening for cable routing; the movable outer baffle is arranged on the outer ring of the movable inner baffle, and an opening at one side of the movable outer baffle is connected with the fixed frame; a smooth area between the movable outer baffle and the movable inner baffle is a wire groove; the cable passes through the opening on the movable inner baffle after passing through the rotating shaft, and passes through the fixing clamp for fixing after winding the movable inner baffle for a circle.
Has the advantages that:
the invention provides a method for realizing indirect drive high-precision servo under nonlinear interference, which comprises the steps of through-axis cable layout, ideal system model calibration, gear backlash compensation and interference segmented compensation. The deformation mode of the cable is fixed and dispersed through spiral wiring, so that the change of the nonlinear moment is easier to predict, the moment is reduced, and the problem of nonlinear disturbance moment caused by the shaft penetrating cable is solved. Meanwhile, the problem of poor servo performance caused by factors such as gear transmission backlash, friction torque and the like can be solved through gear backlash compensation and interference sectional compensation.
Drawings
Fig. 1 is a flowchart of an indirect drive high-precision servo implementation method under nonlinear interference according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of spiral wiring according to an embodiment of the present invention; wherein, 1 is a rotating shaft, 2 is a movable inner baffle, 3 is a cable, 4 is an outer baffle, 5 is a fixed clamp, and a wire groove is arranged in the area between 2 and 4;
fig. 3 is a schematic diagram of a cable state at a limited angle of the rotating shaft during spiral wiring in the embodiment of the invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a method for realizing indirect drive high-precision servo under nonlinear interference, which is used for carrying out servo control on a stable platform of a seeker, wherein the stable platform comprises a motor, a frame and a gear drive structure, the gear drive structure comprises a drive end gear and a load end gear which are meshed, the drive end gear is sleeved on an output shaft of the motor, and the load end gear is sleeved on a drive shaft of the frame; and the flow of the method is shown in figure 1, and comprises the following steps:
constructing an ideal system model of a stable platform, which specifically comprises the following steps: and taking out the shaft penetrating cable in the stable platform, adopting an external connection mode to replace a shaft penetrating connection mode, and directly connecting an output shaft of the motor with a driving shaft of the frame to realize direct drive of the frame.
And calibrating the ideal system model to obtain the transfer function G0 of the ideal system model.
Performing servo control on a stable platform of the seeker by adopting a servo control algorithm, comparing the angular velocity v of the frame with the polarity of the output voltage u of the motor, and when the polarities of v and u are different, superposing null return compensation in the control quantity calculated by the servo control algorithm, wherein the value of the null return compensation is kXu, and k is a preset adjustable parameter; when v and u have the same polarity, the backlash compensation is set to 0.
And (3) performing superposition interference compensation d on the control quantity calculated by the servo control algorithm according to the difference e between the input quantity and the output quantity of the stable platform.
And (4) setting.
Where H is the inverse of the transfer function G0; a is a set first adjustable parameter; b is a set second adjustable parameter; c is a set third adjustable parameter; t is a set fourth adjustable parameter; e1 is setting a first threshold; e2 is a set second adjustable threshold, e2 is less than e 1; s is the complex variable of the transfer function G0. Wherein a, b, c, T, e1 and e2 are set empirically, and the value that optimizes the compensation effect can be selected according to the final compensation effect.
The through-axis cable adopted by the stable platform is in a spiral wiring mode; as shown in fig. 2 and 3.
The rotating shaft 1 is provided with a movable inner baffle 2 along the circumferential direction, and the movable inner baffle 2 is provided with an opening for cable routing; the movable outer baffle 4 is arranged on the outer ring of the movable inner baffle 2, and an opening at one side of the movable outer baffle 4 is connected with the fixed frame 5; a smooth area between the movable outer baffle 4 and the movable inner baffle 2 is a wire groove; the cable passes through the opening on the movable inner baffle 2 after passing through the rotating shaft 1, and passes through the fixing clamp 5 for fixing after winding the movable inner baffle 2 for a circle.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. An indirect drive high-precision servo realization method under nonlinear interference is used for carrying out servo control on a stable platform of a seeker, wherein the stable platform comprises a motor, a frame and a gear drive structure, the gear drive structure comprises a drive end gear and a load end gear which are meshed with each other, the drive end gear is sleeved on an output shaft of the motor, and the load end gear is sleeved on a drive shaft of the frame; and the method comprises the following steps:
constructing an ideal system model of the stable platform, which specifically comprises the following steps: taking out the shaft penetrating cable in the stable platform, adopting an external connection mode to replace a shaft penetrating connection mode, and directly connecting an output shaft of the motor with a driving shaft of the frame to realize direct drive of the frame;
calibrating the ideal system model to obtain a transfer function G0 of the ideal system model;
performing servo control on a stable platform of the seeker by adopting a servo control algorithm, comparing the angular velocity v of the frame with the polarity of the output voltage u of the motor, and when the polarities of v and u are different, superposing null return compensation in a control quantity calculated by the servo control algorithm, wherein the value of the null return compensation is kXu, and k is a preset adjustable parameter; when the polarities of v and u are the same, setting the backlash compensation to be 0;
the control quantity calculated by the servo control algorithm is subjected to superposition interference compensation d according to the difference e between the input quantity and the output quantity of the stable platform;
and (4) setting.
Where H is the inverse of the transfer function G0; a is a set first adjustable parameter; b is a set second adjustable parameter; c is a set third adjustable parameter; t is a set fourth adjustable parameter; e1 is setting a first threshold; e2 is a set second adjustable threshold, e2 is less than e 1; s is the complex variable of the transfer function G0.
2. The method of claim 1, wherein the through-axis cables used by the stabilization platform are routed in a spiral manner;
the rotating shaft (1) is provided with a movable inner baffle (2) along the circumferential direction, and the movable inner baffle (2) is provided with an opening for cable routing;
the movable outer baffle (4) is arranged on the outer ring of the movable inner baffle (2), and an opening at one side of the movable outer baffle (4) is connected with the fixed frame (5); a smooth area between the movable outer baffle (4) and the movable inner baffle (2) is a wire groove;
the cable passes through the rotating shaft (1), then is routed through an opening in the movable inner baffle (2), and then passes through the fixing clamp (5) for fixing after winding the movable inner baffle (2) for a circle.
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