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Design of collimation servo controller based on nonlinear PID control technology

A servo controller and control technology technology, applied in the field of servo control, can solve the problems of unreasonable linear combination of errors, contradiction between rapidity and overshoot, etc., to reduce steady-state errors, enhance disturbance isolation performance, and suppress torque fluctuations Effect

Inactive Publication Date: 2019-06-14
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the classic PID also has shortcomings such as unreasonable linear combination of errors, and contradictions between rapidity and overshoot.

Method used

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  • Design of collimation servo controller based on nonlinear PID control technology
  • Design of collimation servo controller based on nonlinear PID control technology
  • Design of collimation servo controller based on nonlinear PID control technology

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Embodiment Construction

[0024] The present invention will be further elaborated below in conjunction with the accompanying drawings.

[0025] 1. The stabilized aiming servo system involved in the present invention is a new type of inner and outer frame stabilized aiming servo system whose axis systems are perpendicular to each other. It consists of two subsystems, the azimuth frame and the pitch frame, which are independent and cooperate with each other. The two subsystems have the same structure and are composed of loads, sensors, actuators, power amplifiers and other devices. The load is an aiming device fixedly installed on the carrier, the sensor mainly includes a gyroscope for measuring the angular rate of the carrier and a resolver for measuring the rotation angle of the carrier, the actuator is a DC torque motor, and the power amplifier is a PWM driver. The control structure of the aiming servo system involved in the present invention is as follows: figure 1 shown.

[0026] 2. In the stabili...

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Abstract

Classic PID control is adopted by a collimation servo system, the classic PID is simple in structure and easy to engineering implementation. However, the classical PID also has the disadvantages of unreasonable error linear combination, contradiction between rapidity and overshoot and the like. According to the control characteristic of the collimation servo system in the invention, based on the classical PID control algorithm, an improved design method of a collimation servo controller based on a nonlinear PID control technology is proposed and is used for controlling the collimation servo system so as to improve the control performance of the system and improve the control precision of the system.

Description

technical field [0001] The invention belongs to the field of servo control, and in particular relates to a control method for an aiming servo system applied to a moving carrier. Background technique [0002] Steady aiming servo system has always been the key research object of scientific research institutions at home and abroad, and is widely used in military, civilian and other fields. The function of the stabilized aiming servo system is to isolate external disturbances and solve the problem of losing the target due to the change of the sight attitude caused by the carrier's turbulence, so that the stabilized aiming system can track the target accurately and stably. With the advancement of science and technology and the development of society, the performance requirements of the stabilized aiming servo system are getting higher and higher. It is required that the stabilized aiming servo system must not only have high stability accuracy and good dynamic quality, but also ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
Inventor 吴盘龙张小聪王超尘陆耀阳程文博姚培东陈浩王杰瑞周竹青周乾君
Owner NANJING UNIV OF SCI & TECH
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