CN113985835A - Method for estimating mechanical characteristic parameters of large-antenna radar servo system - Google Patents
Method for estimating mechanical characteristic parameters of large-antenna radar servo system Download PDFInfo
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Abstract
The embodiment of the invention discloses a method for estimating mechanical characteristic parameters of a large antenna radar servo system, which comprises the following steps: calculating friction torque by using the position steady-state error; and calculating an estimated value of the friction characteristic parameter and an estimated value of the rotational inertia. The method adopts an off-line estimation method, is simple and is suitable for a large-antenna radar servo system with high requirements on real-time performance and execution efficiency.
Description
Technical Field
The invention relates to the field of radar servo systems. And more particularly, to a method for estimating mechanical characteristic parameters of a large antenna radar servo system.
Background
Mechanical characteristic parameters, including friction modeling parameters and antenna rotational inertia, are important parameters of a radar servo system. The friction can reduce the speed stability and the tracking precision of a servo system, and the rotational inertia of the antenna directly influences various performances of servo closed-loop control. At present, few researches are carried out on the estimation method of mechanical characteristic parameters of a large-antenna radar servo system, the problems that friction models are inaccurate, the parameters are nonlinear and difficult to estimate exist in the researches of other servo systems and the like are solved, the estimation of the rotational inertia generally depends on the design weight data of a load, and a certain error exists between the actual load rotational inertia and the rotational inertia. Most of the existing estimation methods are on-line estimation, and the used algorithm is complex and is not beneficial to engineering realization. From the technical and cost aspects, the method is not suitable for a large-antenna radar servo system with high requirements on real-time performance and execution efficiency.
Disclosure of Invention
In view of this, a first embodiment of the present invention provides a method for estimating mechanical characteristic parameters of a large antenna radar servo system, including:
calculating friction torque by using the position steady-state error;
and calculating an estimated value of the friction characteristic parameter and an estimated value of the rotational inertia.
In a specific embodiment, the method further comprises:
and acquiring preset parameters of a servo system control structure, and calculating a position steady-state error according to the preset parameters.
In one embodiment, the friction torque is:
F＝-essKpKv
wherein ,essFor position steady state error, KpFor proportional control, KvIs the gain.
In one embodiment, the preset parameters of the servo system control structure include: position control parameters, speed loop parameters, and antenna loading, wherein,
setting the position control parameter to proportional control KpThe speed loop parameter is the gain KvAnd time constant T, equivalent to an inertia element
The antenna is loaded with
J is moment of inertia.
In one embodiment, the position steady state error is
wherein ,
in one embodiment, the calculating the friction characteristic parameter estimation value includes:
setting the rotation speed of the servo system to be omega respectivelyi(i is 1, …, n), corresponding n groups of friction torque can be obtained
Fi＝-essiKpKv(i＝1,…,n)
At n sets of friction moments Fi(i-1, …, n) to find the minimum value
Corresponding rotational speed
As the Stribeck velocity ωsIs recorded as
Is calculated as [ Fc,Fs,b]TLinear equation of friction torque as parameter
Fi＝(1-μi)Fc+μiFs+bωi
wherein ,Fc、Fs、
And b are four characteristic parameters of Coulomb friction moment, maximum static friction moment, Stribeck speed and viscous friction coefficient, omegaiIn order to control the speed of the servo system,
the regression matrix Φ is constructed as follows:
calculating [ F ]c,Fs,b]TIs recorded as
To obtain Fc、Fs、ωsAnd b estimated values of four friction characteristic parameters.
In one embodiment, the calculating the estimated value of the moment of inertia includes:
enabling the servo system to rotate according to a preset curve track, and setting the driving torque at T1 and T2 as Tt1 and Tt2If the preset acceleration is a, the estimated value of the moment of inertia is calculated
The invention has the following beneficial effects:
the method calculates the friction torque by utilizing the position steady-state error, calculates the estimated value of the friction characteristic parameter and the estimated value of the rotational inertia, and determines the mechanical characteristic parameter of the large-antenna radar servo system, thereby being convenient for the engineering application of the large-antenna radar servo system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a flow chart of a method for estimating mechanical characteristic parameters of a large antenna radar servo system according to an embodiment of the invention.
Fig. 2 shows a block diagram of a large antenna radar servo system according to an embodiment of the present invention.
Fig. 3 shows a schematic diagram of a preset curve trajectory according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following will describe embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, a method for estimating mechanical characteristic parameters of a large antenna radar servo system includes:
calculating friction torque by using the position steady-state error;
and calculating an estimated value of the friction characteristic parameter and an estimated value of the rotational inertia.
In a specific embodiment, the method further comprises:
and acquiring preset parameters of a large antenna radar servo system control structure, and calculating the position steady-state error according to the preset parameters.
The large antenna radar is a radar with an antenna diameter exceeding 10 meters, the servo system is shown in fig. 2, and the preset parameters of the servo system control structure include: position control parameters, speed loop parameters, and antenna loading, wherein,
setting the position control parameter to proportional control KpThe speed loop parameter is the gain KvAnd time constant T, which can be equivalent to an inertia element
The antenna is loaded with
J is moment of inertia.
When the servo system rotates at a constant speed, the friction torque F is a constant value, and a steady-state error e is caused by the constant valuessIs composed of
wherein ,
the friction torque is thus obtained as:
F＝-essKpKv
wherein ,essFor position steady state error, KpFor proportional control, KvIs the gain.
Setting the rotation speed of the servo system to be omega respectivelyi(i is 1, …, n), corresponding n groups of friction torque can be obtained
Fi＝-essiKpKv(i＝1,…,n)
At n sets of friction moments Fi(i-1, …, n) to find the minimum value
Corresponding rotational speed
As the Stribeck velocity ωsIs recorded as
Is calculated as [ Fc,Fs,b]TLinear equation of friction torque as parameter
Fi＝(1-μi)Fc+μiFs+bωi
wherein ,Fc、Fs、
And b are four characteristic parameters of Coulomb friction moment, maximum static friction moment, Stribeck speed and viscous friction coefficient, omegaiIn order to control the speed of the servo system,
the regression matrix Φ is constructed as follows:
calculating [ F ]c,Fs,b]TIs recorded as
To obtain Fc、Fs、ωsAnd b estimated values of four friction characteristic parameters.
The calculating the estimated value of the moment of inertia comprises:
the servo system is made to rotate according to a preset curve track as shown in FIG. 3, and the driving torques at the time T1 and the time T2 are respectively set as Tt1 and Tt2If the preset acceleration is a, the estimated value of the moment of inertia is calculated
The estimated value of the moment of inertia J is obtained, mechanical characteristic parameters of the large-antenna radar servo system are completely clear, engineering application of the large-antenna radar servo system is facilitated, and the method adopts an off-line estimation method, is simple in calculation method, and is suitable for the large-antenna radar servo system with high requirements on instantaneity and execution efficiency.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (7)
1. A method for estimating mechanical characteristic parameters of a large antenna radar servo system is characterized by comprising the following steps:
calculating friction torque by using the position steady-state error;
and calculating an estimated value of the friction characteristic parameter and an estimated value of the rotational inertia.
2. The method of claim 1, further comprising:
and acquiring preset parameters of a servo system control structure, and calculating a position steady-state error according to the preset parameters.
3. The method of claim 1, wherein the friction torque is:
F＝-essKpKv
wherein ,essFor position steady state error, KpFor proportional control, KvIs the gain.
4. The method of claim 2, wherein the preset parameters of the servo control structure comprise: position control parameters, speed loop parameters, and antenna loading, wherein,
setting the position control parameter to proportional control KpThe speed loop parameter is the gain KvAnd time constant T, equivalent to an inertia element
The antenna is loaded with
J is moment of inertia.
5. The method of claim 3, wherein the position steady state error is
wherein ,
6. the method of claim 2, wherein the calculating the friction characteristic parameter estimate comprises:
setting the rotation speed of the servo system to be omega respectivelyi(i is 1, …, n), corresponding n groups of friction torque can be obtained
Fi＝-essiKpKv(i＝1,…,n)
At n sets of friction moments Fi(i-1, …, n) to find the minimum value
Corresponding rotational speed
As the Stribeck velocity ωsIs recorded as
Is calculated as [ Fc,Fs,b]TLinear equation of friction torque as parameter
Fi＝(1-μi)Fc+μiFs+bωi
wherein ,Fc、Fs、
And b are four characteristic parameters of Coulomb friction moment, maximum static friction moment, Stribeck speed and viscous friction coefficient, omegaiIn order to control the speed of the servo system,
the regression matrix Φ is constructed as follows:
calculating [ F ]c,Fs,b]TIs recorded as
To obtain Fc、Fs、ωsAnd b estimated values of four friction characteristic parameters.
7. The method of claim 6, wherein the calculating the estimate of moment of inertia comprises:
enabling the servo system to rotate according to a preset curve track, and setting the driving torque at T1 and T2 as Tt1 and Tt2If the preset acceleration is a, the estimated value of the moment of inertia is calculated
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Citations (4)
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|---|---|---|---|---|
| JPH06225565A (en) * | 1993-01-25 | 1994-08-12 | Yaskawa Electric Corp | Method of measuring load constant of motor drive system |
| CN202646656U (en) * | 2012-05-07 | 2013-01-02 | 中国人民解放军63636部队 | Gravity mismatching device for backlash elimination of precise measurement radar servo system |
| CN107102634A (en) * | 2017-05-11 | 2017-08-29 | 北京理工大学 | A kind of parameter Estimation and tracking and controlling method based on table servo system |
| CN110161862A (en) * | 2019-06-05 | 2019-08-23 | 安徽大学 | A kind of servo turntable friciton compensation control system and method based on switching system theory |
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Patent Citations (4)
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|---|---|---|---|---|
| JPH06225565A (en) * | 1993-01-25 | 1994-08-12 | Yaskawa Electric Corp | Method of measuring load constant of motor drive system |
| CN202646656U (en) * | 2012-05-07 | 2013-01-02 | 中国人民解放军63636部队 | Gravity mismatching device for backlash elimination of precise measurement radar servo system |
| CN107102634A (en) * | 2017-05-11 | 2017-08-29 | 北京理工大学 | A kind of parameter Estimation and tracking and controlling method based on table servo system |
| CN110161862A (en) * | 2019-06-05 | 2019-08-23 | 安徽大学 | A kind of servo turntable friciton compensation control system and method based on switching system theory |
Non-Patent Citations (3)
| Title |
|---|
| HUI YANG, ET AL: "Study on the friction torque test and identification algorithm for gimbal axis of an inertial stabilized platform", ORIGINAL ARTICLE, pages 1 - 10 * |
| 向红标等: "基于Stribeck简化模型的伺服系统转动惯量的辨识", 第十七届中国科协年会——分3面向智能制造的先进测控技术学术会议论文集, pages 1 - 7 * |
| 谭文斌等: "应用稳态误差分析辨识 LuGre 模型参数", 光学精密工程, pages 664 - 670 * |
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