| 高精度伺服稳定跟踪平台数字控制器研制 |
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| 引用本文： | 杨海峰,李奇,姬伟.高精度伺服稳定跟踪平台数字控制器研制[J].东南大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 杨海峰 李奇 姬伟 |
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| 作者单位： | 东南大学自动化研究所 南京210096
(杨海峰，李奇)，东南大学自动化研究所 南京210096(姬伟) |
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| 摘 要： | 以陀螺伺服稳定跟踪平台为背景 ,介绍了以DSP为处理核心的平台数字伺服运动控制器的研制 .指出惯性速率环和电机速度环的本质不同 ;提出增加电机转矩 (电流 )环用于提高电机输出转矩线性度的方法 ,从而达到提高惯性速率稳定环的控制效果 ;介绍了以CCD图像或增量式码盘测角组成系统位置闭环 ,以光纤速率陀螺作为惯性速率反馈传感器组成系统速率闭环 ,附带电流反馈组成电机转矩 (电流 )环和速度、加速度前馈装置的前馈反馈复合控制系统 .组成伺服跟踪平台系统联调后测试结果表明 ,系统具有良好的动、静态性能指标和很好的控制效果 .
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| 关 键 词： | 陀螺稳定平台 惯性速率稳定环 伺服系统 数字控制 |
Controller design for high accuracy digital servo stabilized tracking platform |
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| Yang Haifeng,Li Qi,Ji Wei.Controller design for high accuracy digital servo stabilized tracking platform[J].Journal of Southeast University(Natural Science Edition),2004(Z1). |
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| Authors: | Yang Haifeng Li Qi Ji Wei |
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| Abstract: | With the background of gyro stabilized tracking platform, a controller was designed for digital motion control. The essential difference between the i nertial rate closed-loop and the common rate closed-loop is discussed. A metho d which adds a torque loop to increase the motor torque linearity is present ed. The composite control method using the CCD (charge coupled device) graphic o r incremental encoder to constitute the position closed-loop, and using the optic fiber gyro to const itute the rate closed-loop is introduced. The current feedback closed-loop and the rate and acceleration feedforward are also included. Experimental results s how that the system has good dynamic and static performance indices and excelle nt control results. |
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| Keywords: | gyro stabilized platform inertial rate closed-loop servo system digital cont rol |
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