基于深度卷积神经网络的雷达伺服转台消隙策略  

Anti-Backlash Strategy of Radar Servo Turntable Based on Deep Convolutional Neural Networks

作　　者：鲍子威 吴影生[1] 房景仕[1] BAO Ziwei;WU Yingsheng;FANG Jingshi(The 38th Research Institute of China Electronics Technology Group Corporation,Hefei 230088,China)

机构地区：[1]中国电子科技集团公司第三十八研究所,安徽合肥230088

出　　处：《雷达科学与技术》2025年第1期101-108,118,共9页Radar Science and Technology

基　　金：安徽省重点研究与开发计划项目(No.2022b13020003)。

摘　　要：精密雷达伺服转台传动机构会随着装备不断运行使用逐渐磨损,表现为齿隙随着机构的磨损逐渐增大。传统双电机消隙控制策略能够消除齿隙,但该策略需要基于控制经验及装备初始传动机构齿隙一次性配置完成,这会导致随着机构磨损消隙效果逐渐变差,影响雷达跟踪精度。针对此缺陷,本文提出一种基于深度卷积神经网络(DCNN)的精密雷达伺服转台消隙策略,通过采集位置闭环传动轴振动数据,利用连续小波变换(CWT)得到时频图,作为DCNN训练输入,训练后得到识别模型,最后根据模型识别出伺服转台传动机构磨损程度来调整双电机消隙控制的偏置电流和拐点电流,通过对比实验验证了调整后消隙效果优于传统消隙方式,极大提高装备运行的可靠性,降低雷达伺服转台的维护成本。The transmission mechanism of the precision radar servo turntable will gradually wear with continuous equipment operation,resulting in an increase in backlash.While the traditional dual motor anti-backlash control strate-gy can eliminate the backlash,it depends on the control experience and initial gear backlash configuration,leading to a gradual decline in the effectiveness of backlash elimination as the wear of the mechanism and affecting radar tracking accuracy.To overcome this limitation,an anti-backlash strategy of precision radar servo turntable based on deep convo-lutional neural network(DCNN)is proposed in this paper.By collecting the vibration data of the position closed-loop transmission shaft and utilizing continuous wavelet transform(CWT)to generate time-frequency graphs.After training,a recognition model is obtained.Finally,using this model to identify the degree of wear in the servo turntable transmis-sion mechanism and adjust bias current and inflection point current of the dual motor anti-backlash control.Compara-tive experiments confirm that the adjusted anti-backlash effect is superior to the traditional method,significantly enhanc-ing the equipment reliability and reducing the maintenance cost of radar servo turntable.

关 键 词：深度卷积神经网络 精密雷达伺服转台 双电机消隙 可靠性 

分 类 号：TN957[电子电信—信号与信息处理]