某型球窝喷管伺服系统跟踪特性分析及补偿策略研究  

Tracking Characteristics Analysis and Compensation Strategy Research on a Certain Type of Ball-socket Nozzle Servo System

作　　者：王厚浩 潘卫东 周道 林秀沪 方李 WANG Houhao;PAN Weidong;ZHOU Dao;LIN Xiuhu;FANG Li(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)

机构地区：[1]上海航天控制技术研究所,上海201109

出　　处：《上海航天(中英文)》2024年第6期164-170,共7页Aerospace Shanghai(Chinese&English)

基　　金：上海市青年科技英才扬帆计划资助(23YF1417500)。

摘　　要：为提高某型球窝喷管摆角跟踪精度,针对球窝喷管跟踪特性开展分析及补偿策略研究。将球窝喷管伺服系统等效为双惯量系统,建立了含伺服机构与球窝喷管的系统耦合模型,同时引入LuGre摩擦模型对摩擦力矩进行表述;采用仿真分析方法,分析系统联结刚度、摩擦力对球窝喷管跟踪特性的影响;提出含摩擦前馈加刚度补偿的复合控制策略,对摩擦力矩抑制的同时保证喷管高动态下输出精度;建立球窝喷管伺服系统仿真模型并验证了算法有效性。仿真试验结果表明:摩擦补偿可抑制系统在低速时的波形畸变,提高球窝喷管低速跟踪性能,其次,引入刚度补偿后,喷管在中高频的频率特性逼近伺服机构频率特性,动态跟踪性能得到提升。In order to improve the tracking accuracy of the swing angle of a certain type of ball-socket nozzle,the tracking characteristics of the ball-socked nozzle are analyzed,and the compensation strategy is investigated.The ballsocked nozzle servo system is equivalent to a dual inertia system,a coupling model containing the servo system and the ball-socket nozzle is established,and the LuGre friction model is introduced to describe the friction torque.The effects of system connection stiffness and friction on the tracking characteristics of the ball-socked nozzle are analyzed with the simulation analysis method.A composite control strategy with friction feedforward and stiffness compensation is proposed to suppress the friction torque while ensuring the output accuracy of the nozzle under high dynamic conditions.A simulation model for the ball-socked nozzle servo system is established,and the effectiveness of the algorithm is verified.The simulation results show that friction compensation can suppress the waveform distortion of the ball-socked nozzle system at low speed and improve the tracking performance of the ball-socked nozzle at low speed.In addition,the frequency characteristics of the nozzle at medium and high frequencies are close to the true characteristics of the servo mechanism after the introduction of stiffness compensation,indicating that the dynamic tracking performance is improved.

关 键 词：球窝喷管 伺服机构 低刚度 摩擦 补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]