精密海陆跟踪伺服控制系统的设计与实现

针对陆地和船体上稳定平台的特点,设计并研制了一种新型精密海陆伺服跟踪控制系统.首先通过分析双环伺服控制系统的优势,形成了位置外环和速度内环的双环复合控制方案,然后重点对速度内环进行设计.在速度内环中,主要由速率陀螺作为反馈元件,由直流伺服电机作为执行机构,由补偿环节作为校正机构.由陀螺的技术指标和幅相响应的关系,提出了一种新型的选型依据;由实际测量的伺服电机对输入电压的响应,实现了电机模型的降维辨识;针对系统对于快速性和稳定性的要求,设计了一种新型的PIP串联校正方法,分析校正参数的选择过程.最后进行综合理论模拟分析,在实际应用中验证了其有效性和实用性,并对以后的数字速度内环设计进行了展望.

Design and realization of a precise tracking servo control system

Considering the features of stabilized platform on the ground and onboard ships,a new type of precise tracking servo control system was designed for both ocean and land use.Firstly,by analyzing the advantages of double-loop servo control system,a compound double-loop control project was built up which consists of an outside position loop and an inside velocity loop.Then the inside velocity loop,which was the more important loop,was analyzed particularly.This loop used rate gyro as feedback component,DC serv...