电动缸伺服系统中误差平方根控制  

Error Square Root Control in Electric Cylinder Servo System

作　　者：胡鑫[1] 赵昕[1] 韩崇伟[1] 李伟[1] HU Xin;ZHAO Xin;HAN Chong-wei;LI Wei(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,China)

机构地区：[1]西北机电工程研究所,咸阳712099

出　　处：《科学技术与工程》2021年第3期1066-1070,共5页Science Technology and Engineering

基　　金：海军武器装备预先研究项目(3020801010209)。

摘　　要：针对电动缸带来的速比非线性导致系统快速性和精度之间难以匹配的问题,建立了火炮身管的运动学模型和动力学模型,提出了一种变系数误差平方根和带前馈的比例积分微分(proportion integration differentiation,PID)分段控制策略,利用火炮身管的运动学模型和根据动力学模型拟合的加速度计算误差平方根控制系数,应用于系统的位置控制器设计。利用实际负载进行了台架实验研究,并与传统的误差平方根和带前馈的PID分段控制策略进行了对比。台架实验结果表明:该种变系数误差平方根和带前馈的PID分段控制策略可以明显减小火炮俯仰伺服系统的大调转时间和超调量,且不影响等速和正弦跟踪精度,具有一定的工程应用价值。Aiming at the problem that the speed ratio of the electric cylinder is nonlinear,it is difficult to match the system rapidity and accuracy.The kinematics and dynamics models of the gun barrel were established,a variable coefficient error square root and proportion integration differentiation(PID)with feedforward subsection control strategy was proposed.The control coefficient of variable coefficient error square root was calculated by using the kinematics model of gun barrel and the acceleration fitting according to the dynamics model.The control method was applied to the position controller design of servo system.The bench test was carried out with actual load,and the results were compared with the traditional error square root and PID with feedforward subsection control strategy.The results of bench test show that the variable coefficient error square root and PID with feedforward subsection control strategy could obviously reduce the large turning time and overshoot of the gun pitching servo system,and does not affect the constant speed and sine tracking precision,so it has certain engineering application value.

关 键 词：电动缸 误差平方根 非线性 位置控制 火炮 俯仰伺服系统 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]