基于改进型重复控制的三轴转台解耦与控制

针对三轴转台伺服系统位置精度要求不断提高,提出了改进型重复控制与微分前馈控制相结合的复合控制作用于伺服系统的位置回路。根据某型三轴转台伺服系统的组成,分析并建立了电流环、速度环与位置环的模型,并于位置环设计了改进型重复控制器。设计时,考虑了三轴转台的三个框架转动时互相产生的耦合影响,并分析三个框架同时转动时三轴转台的内框快速性与稳定性。仿真结果表明,采用复合控制策略时三轴转台的位置控制响应快、精度高、抗干扰性强,满足系统性能指标。

Decoupling and Control of Three-axis Turret Based on Modified Repetitive Control System

The modified repetitive control and differential feed-forward control are combined to form com-pound control on the position loop of the servo system of three-axis turret in order to meet the increasing accuracy re-quirement. According to the structure of the turret servo system, models of current loop, velocity loop and positionloop are analyzed and built. And the modified repetitive controller is designed for the position loop. The coupling ef-fect from three frames of the three-axis turret rotating simultaneously is considered in the design. And the speed andstability of three inner frames are analyzed. Simulation results show that the turret has fast position control response,high precision and strong anti-interference using compound control, which can meet the system performance require-ments.