钢丝绳传动的三轴转台伺服控制的设计  

Design of a Three-Axis Turntable Servo Control Using Wirerope Transmission

作　　者：王凯 孔德杰 宋悦铭[2] 王国华[2] 沈宏海[2] 王浩[2] WANG Kai;KONG Dejie;SONG Yueming;WANG Guohua;SHEN Honghai;WANG Hao(School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 1300012,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China)

机构地区：[1]长春理工大学光电工程学院,吉林长春130012 [2]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《红外技术》2022年第1期54-60,共7页Infrared Technology

基　　金：国家重点研发计划项目。

摘　　要：针对某机载平台中钢丝绳传动带来的非线性误差及外部扰动等因素直接影响平台相机成像质量的问题,提出一种模糊自适应前馈补偿的控制策略。首先对钢丝绳传动机构和高精度直流伺服电机进行了建模,并建立了摩擦模型,为转台速度环控制回路引入模糊自适应PID控制器。设计出前馈补偿和模糊自适应控制器的复合控制策略。Matlab仿真结果以及实验表明该复合策略能有效消除飞机振动和钢丝绳非线性带来的抖动,转台的稳定精度从1 mrad提高至0.2 mrad,大幅地提高了成像质量。Aiming at the problem of nonlinear errors and external disturbances caused by wirerope transmission in an airborne platform directly affecting the imaging quality of platform cameras,we propose a control strategy using fuzzy adaptive feedforward compensation.First,the wirerope transmission mechanism and a high-precision DC servo motor were modeled,a friction model was established,and a fuzzy adaptive proportional-integral-derivative controller was introduced for the speed loop control loop of the turntable.Based on the principles of feedforward compensation,a feedforward compensation algorithm is proposed.A compound control strategy combining feedforward compensation with a fuzzy adaptive controller is also designed.MATLAB simulation results and experiments demonstrate that this compound strategy can effectively eliminate the jitter caused by aircraft vibration and wirerope nonlinearity.The stability accuracy of the turntable is increased from 1 to 0.2 mrad,which can significantly improve imaging quality.

关 键 词：稳定平台 模糊PID 前馈控制 钢丝绳传动 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]