CN112033233B - Indirect driving high-precision servo implementation method under nonlinear interference - Google Patents
Indirect driving high-precision servo implementation method under nonlinear interference Download PDFInfo
- Publication number
- CN112033233B CN112033233B CN202010732428.0A CN202010732428A CN112033233B CN 112033233 B CN112033233 B CN 112033233B CN 202010732428 A CN202010732428 A CN 202010732428A CN 112033233 B CN112033233 B CN 112033233B
- Authority
- CN
- China
- Prior art keywords
- stable platform
- servo control
- frame
- servo
- system model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 stable platforms and 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. The through-axis cable adopted by the stable platform is in a spiral wiring mode; the method comprises the following steps: and (4) 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 can clearly image, and ensures that the tracker can stably track. 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 and the azimuth gyroscope, and 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 need to penetrate through the pitching frame shaft to be connected to the servo circuit board. 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 detector is a hard coaxial cable, and great elasticity and friction interference torque are generated.
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: an indirect drive high-precision servo implementation method under nonlinear interference is used for servo control over a stable platform of a seeker, 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, replacing a shaft penetrating connection mode by an external 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 is the same as u polarity, the backlash offset 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. 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 through-axis 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 a method for implementing indirect drive high-precision servo 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 an indirect drive high-precision servo implementation method 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.
Servo control is carried out on a stable platform of the seeker by adopting a servo control algorithm, the angular velocity v of the frame is compared with the polarity of the output voltage u of the motor, when the polarity of v is different from that of u, null return compensation is superposed in the control quantity calculated by the servo control algorithm, the value of the null return compensation is k multiplied by u, 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 circumferentially provided with a movable inner baffle 2, 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 opening on the movable inner baffle 2 after passing through the pivot 1 and walks, and after 2 a week in the movable inner baffle, passes fixation clamp 5 and fixes.
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;
is provided with
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 cable used for the stabilization platform is routed in a spiral manner;
the rotating shaft (1) is circumferentially provided with a movable inner baffle (2), 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 on one side of the movable outer baffle (4) is connected with the fixed clamp (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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010732428.0A CN112033233B (en) | 2020-07-27 | 2020-07-27 | Indirect driving high-precision servo implementation method under nonlinear interference |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010732428.0A CN112033233B (en) | 2020-07-27 | 2020-07-27 | Indirect driving high-precision servo implementation method under nonlinear interference |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112033233A CN112033233A (en) | 2020-12-04 |
CN112033233B true CN112033233B (en) | 2022-07-26 |
Family
ID=73583256
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010732428.0A Active CN112033233B (en) | 2020-07-27 | 2020-07-27 | Indirect driving high-precision servo implementation method under nonlinear interference |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112033233B (en) |
Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2253722A (en) * | 1987-09-23 | 1992-09-16 | Gen Electric Co Plc | Stabilising arrangement |
US5274314A (en) * | 1993-02-12 | 1993-12-28 | Texas Instruments Incorporated | Adaptive friction compensator |
US5369345A (en) * | 1992-03-31 | 1994-11-29 | Seagate Technology, Inc. | Method and apparatus for adaptive control |
JPH09258830A (en) * | 1996-03-19 | 1997-10-03 | Yaskawa Electric Corp | Backlash suppression control method for position control |
JP2006195566A (en) * | 2005-01-11 | 2006-07-27 | Yaskawa Electric Corp | Servo control unit and control method therefor |
CN1974325A (en) * | 2006-12-14 | 2007-06-06 | 北京航空航天大学 | Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation |
CN103149948A (en) * | 2013-02-04 | 2013-06-12 | 北京航空航天大学 | Two-freedom-degree heavy-load tracking stabilized platform system |
CN103344243A (en) * | 2013-07-02 | 2013-10-09 | 北京航空航天大学 | Friction parameter identification method for aerial remote-sensing inertial stabilization platform |
CN103693205A (en) * | 2013-12-30 | 2014-04-02 | 广东电网公司电力科学研究院 | Pod stabilized platform control method based on backlash estimation and compensation |
CN104460704A (en) * | 2014-12-15 | 2015-03-25 | 南京理工大学 | Tracking control method for pitching position of electric rotary table based on perturbation upper bound estimation |
CN104808699A (en) * | 2015-04-13 | 2015-07-29 | 武汉华中天勤光电系统有限公司 | Servo control method based on gear mechanism |
CN104965413A (en) * | 2015-06-29 | 2015-10-07 | 南京理工大学 | Friction compensation adaptive control method for controlled emission platform |
CN105786024A (en) * | 2016-03-02 | 2016-07-20 | 北京航空航天大学 | Airborne photoelectric platform high precision tracking controller based on model error compensation and tracking control method thereof |
CN107621783A (en) * | 2017-08-26 | 2018-01-23 | 南京理工大学 | Flat pad adaptive robust control method based on friciton compensation |
CN109884881A (en) * | 2018-06-13 | 2019-06-14 | 南京理工大学 | A kind of design for surely taking aim at servo controller based on nonlinear PID controller technology |
CN111338391A (en) * | 2020-05-19 | 2020-06-26 | 北京中星时代科技有限公司 | Two-axis four-frame photoelectric turntable control system |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101915191B1 (en) * | 2011-09-19 | 2018-11-05 | 한화지상방산 주식회사 | Control system for rotating shaft |
-
2020
- 2020-07-27 CN CN202010732428.0A patent/CN112033233B/en active Active
Patent Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2253722A (en) * | 1987-09-23 | 1992-09-16 | Gen Electric Co Plc | Stabilising arrangement |
US5369345A (en) * | 1992-03-31 | 1994-11-29 | Seagate Technology, Inc. | Method and apparatus for adaptive control |
US5274314A (en) * | 1993-02-12 | 1993-12-28 | Texas Instruments Incorporated | Adaptive friction compensator |
JPH09258830A (en) * | 1996-03-19 | 1997-10-03 | Yaskawa Electric Corp | Backlash suppression control method for position control |
JP2006195566A (en) * | 2005-01-11 | 2006-07-27 | Yaskawa Electric Corp | Servo control unit and control method therefor |
CN1974325A (en) * | 2006-12-14 | 2007-06-06 | 北京航空航天大学 | Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation |
CN103149948A (en) * | 2013-02-04 | 2013-06-12 | 北京航空航天大学 | Two-freedom-degree heavy-load tracking stabilized platform system |
CN103344243A (en) * | 2013-07-02 | 2013-10-09 | 北京航空航天大学 | Friction parameter identification method for aerial remote-sensing inertial stabilization platform |
CN103693205A (en) * | 2013-12-30 | 2014-04-02 | 广东电网公司电力科学研究院 | Pod stabilized platform control method based on backlash estimation and compensation |
CN104460704A (en) * | 2014-12-15 | 2015-03-25 | 南京理工大学 | Tracking control method for pitching position of electric rotary table based on perturbation upper bound estimation |
CN104808699A (en) * | 2015-04-13 | 2015-07-29 | 武汉华中天勤光电系统有限公司 | Servo control method based on gear mechanism |
CN104965413A (en) * | 2015-06-29 | 2015-10-07 | 南京理工大学 | Friction compensation adaptive control method for controlled emission platform |
CN105786024A (en) * | 2016-03-02 | 2016-07-20 | 北京航空航天大学 | Airborne photoelectric platform high precision tracking controller based on model error compensation and tracking control method thereof |
CN107621783A (en) * | 2017-08-26 | 2018-01-23 | 南京理工大学 | Flat pad adaptive robust control method based on friciton compensation |
CN109884881A (en) * | 2018-06-13 | 2019-06-14 | 南京理工大学 | A kind of design for surely taking aim at servo controller based on nonlinear PID controller technology |
CN111338391A (en) * | 2020-05-19 | 2020-06-26 | 北京中星时代科技有限公司 | Two-axis four-frame photoelectric turntable control system |
Also Published As
Publication number | Publication date |
---|---|
CN112033233A (en) | 2020-12-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Masten | Inertially stabilized platforms for optical imaging systems | |
CN108919841B (en) | Composite shaft control method and system of photoelectric tracking system | |
CN101872198B (en) | Vehicle-mounted pick-up stable platform | |
CN110361829B (en) | Telescope pointing error correction method and telescope | |
JP4982407B2 (en) | Mobile object image tracking apparatus and method | |
CN104122900A (en) | Compound axis tracking system based on rotary biprism | |
JP4241785B2 (en) | Servo control device | |
CN106569205A (en) | Co-aperture infrared/radar composite seeker | |
CN112683112B (en) | Optical platform and radar co-frame turntable system | |
US20130069581A1 (en) | Control system for rotating shaft | |
DE4331259C1 (en) | Seeker for guided missile has electro-optical seeker mounted in Cardan frame with actuators to align seeker onto target | |
CN106802672B (en) | A kind of real-time closed-loop tracking based on rotation biprism | |
CN109597092A (en) | A kind of space high precision photoelectric pointing system using complex controll | |
Mousavi et al. | Robust adaptive fractional-order nonsingular terminal sliding mode stabilization of three-axis gimbal platforms | |
CN112033233B (en) | Indirect driving high-precision servo implementation method under nonlinear interference | |
CN109884791B (en) | Rapid high-precision scanning method based on rotating biprism | |
Ansari et al. | Fast steering and quick positioning of large field-of-regard, two-axis, four-gimbaled sight | |
CN112498743B (en) | Satellite attitude tracking controller based on feedforward and feedback | |
CN1007803B (en) | Pointing compensation system for spacecraft instruments | |
CN102662407B (en) | Tracking control method of three-axis telescope | |
CN108375997B (en) | Orthogonality compensation method for two-axis servo control system of vehicle-mounted photoelectric observing and aiming system | |
Borrello | A multi stage pointing acquisition and tracking (PAT) control system approach for air to air laser communications | |
Dunn et al. | The Infrared Imaging Spectrograph (IRIS) for TMT: multi-tiered wavefront measurements and novel mechanical design | |
CN112165578B (en) | Exposure compensation method for flight shooting | |
Xie et al. | Research on optimal control strategy for velocity stability of space two-dimensional tracking turntable |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |