| 车载大惯量运动平台双电机驱动控制策略 |
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| 引用本文： | 李方俊,王生捷,李俊峰,王利. 车载大惯量运动平台双电机驱动控制策略[J]. 兵工学报, 2022, 43(10): 2460-2472. DOI: 10.12382/bgxb.2021.0501 |
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| 作者姓名： | 李方俊 王生捷 李俊峰 王利 |
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| 作者单位： | （1.北京机械设备研究所， 北京 100854； 2.中国长峰机电技术研究设计院， 北京 100854） |
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| 摘 要： | 针对某车载大惯量伺服系统刚度欠缺，系统在高动态响应与稳定运行之间存在的矛盾，提出一种基于速度曲线规划的双电机驱动策略。采用双电机同步消隙的方法来补偿方位通道与俯仰通道中传动间隙的影响，使得负载的驱动力矩变化连续，保证了系统的稳定运行。通过对伺服系统的运行速度曲线进行合理规划，避免了系统较大启动速度与加速度对结构造成的冲击而导致的抖动问题；利用速度规划指令前馈补偿的方式提高了伺服系统的动态跟踪精度，保证了系统的快速运行能力。联合仿真及实验结果表明：双电机同步消隙方法能有效补偿传动结构中间隙/齿隙的影响；速度曲线规划及前馈补偿的方式能有效抑制大惯量挠性结构的抖动问题，同时保证了系统运行的快速性。
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| 关 键 词： | 车载大惯量运动平台 双电机同步消隙 速度曲线规划及前馈补偿 联合仿真 |
Control Strategy for Vehicle-Based Dual-Motor Driving Moving Platform with High Inertia |
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| LI Fangjun,WANG Shengjie,LI Junfeng,WANG Li. Control Strategy for Vehicle-Based Dual-Motor Driving Moving Platform with High Inertia[J]. Acta Armamentarii, 2022, 43(10): 2460-2472. DOI: 10.12382/bgxb.2021.0501 |
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| Authors: | LI Fangjun WANG Shengjie LI Junfeng WANG Li |
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| Affiliation: | (1.Beijing Mechanical Equipment Institute, Second Academy of CASIC, Beijing 100854, China;2.China Changfeng Electromechanical Technology Research and Design Institute, Beijing 100854, China) |
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| Abstract: | A dual-motor driving strategy based on velocity curve planning is proposed for a vehicle-based high-inertia servo system with a contradiction between high dynamic response and stable operation. The dual-motor synchronous anti-backlash technology is adopted to compensate for the effects of backlash in the directional channel and pitch channel, smoothing out variations in driving torque and ensuring the stable operation of the system. The impact of the quick start-up procession and large acceleration which causes the low-frequency chattering problem is thus avoided through the propose planning of the speed curve of the servo system. Meanwhile, the speed planning command feedforward compensation improves the dynamic tracking accuracy of the servo system. Co-simulation and experimental results show that the dual-motor synchronous anti-backlash method can eliminate the influence of transmission clearance/backlash. The velocity curve planning approach with speed command feedforward compensation can effectively suppress the chattering problem of the high-inertia flexible structure and guarantee the system's response capacity. |
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| Keywords: | vehicle-basedmovingplatformwithhighinertia dual-motorsynchronousanti-backlashtechnology velocitycurveplanningwithspeedcommandfeedforwardcompensation co-simulation |
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