光电经纬仪的机电动力学建模与耦合

以光电经纬仪伺服跟踪系统为研究对象,基于动量矩定理和欧拉动力学方程,推导出了系统中跟踪架非线性的双轴耦合动力学模型,对跟踪架各轴间的转动惯量耦合、速度耦合及动力学耦合作用规律进行了研究,从理论上给出了它们之间的解析关系式。根据系统中执行元件力矩电机的方程,最终建立了描述跟踪伺服系统中被控对象动态特性的机电动力学模型,分别采用比较测试方法与计算机仿真方法验证了理论模型的正确性,为后续研究、设计高精度的跟踪控制器和控制参数的选取及优化提供了理论参考和模型基础。

Electromechanical dynamic modeling and coupling for optoelectronic theodolite

The tracking servo system of an optoelectronic theodolite is studied based on the momentum moment theorem and Euler dynamic equation. The mathematical relationship and the nonlinear biaxial coupling dynamic model of gimbal system are derived by analysis and research of the coupling action of inertia moment, velocity and dynamics of axes in gimbal system. Then a electromechanical dynamic model for describing the dynamic characteristics of tracking servosystem is established according to the torque motor equation of execute component and is verified by comparison of testing method and computer simulation respectively. The model can set up a foundation for the further simulation and experimental research and can provide theoretical references for the design and simulation verification of thr tracking servosystem of optoelectronic theodolite.