Three-axis accurate angular motion control method

A control method and technology of angular motion, applied in the direction of electric controller, adaptive control, general control system, etc., can solve the problem that the motion axis cannot be commanded to track accurately, the closed loop cannot work reliably, and the performance of the linkage angular rate is degraded. The effect of eliminating coupling torque disturbance between shafts, improving linkage performance and improving reliability

Inactive Publication Date: 2008-11-05
中国航空工业第一集团公司北京航空精密机械研究所
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Problems solved by technology

[0005] ① Due to the structural mass distribution of the three-axis turntable, there is a dynamic coupling moment between the axes in the multi-axis linkage, which causes periodic disturbances to the control system regarding the change of the rotation angle, so that the motion axis cannot accurately track the command, and the performance of the linkage angular rate decreases. The positionin

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[0023] In each control servo cycle, the control calculation device generates timing related to the rotation angle mθ according to the harmonic characteristics of the coupling torque disturbance between the shafts. r ±nθ p The change of the quadrature harmonic compensation control signal, and the real-time calculation and adjustment of the amplitude p of the harmonic signal of each order according to the system servo error sl , P cl , And apply the compensation control signal to the independent basic closed-loop servo control loop of the corresponding axis to achieve the purpose of accurately eliminating the coupling torque disturbance between the axes. By setting the initial phase shift angle β of the control signal sl , Β cl , Compensate the system delay and ensure the stability of the adaptive mechanism.

[0024] The calculation formula of the shaft coupling torque harmonic adaptive feedforward compensation (CTHAFC) is:

[0025] u CTHAFC ...

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Abstract

The present invention belongs to a device for simulating the three-axis gesture movement, and relates to a method for controlling the three-axis accurate angular movement. The device timely generates an orthogonal harmonic compensation control signal related to the variation of rotation angle with a control calculating device according to the harmonic characteristic of the disturbance of in-axis coupling torque and real-time calculates and regulates the amplitude of each stage of subharmonic signal according to the servo error of system, and applies the compensation control signal to the independent basic closed-loop servo-controlled loop of the corresponding axis. The invention adopts a strategy and a system structure which execute harmonic self-adapting feedback control to the in-axis movement coupling torque disturbance caused by the structural mass arrangement. The tracking error of position servo between each axis in the linkage angular rate state is evidently reduced, and the linkage capability is greatly improved.

Description

technical field [0001] The invention belongs to a three-axis posture motion simulation device and relates to a three-axis precision angular motion control method. Background technique [0002] Three-axis turntable (that is, three-dimensional attitude motion simulation equipment) provides accurate angular position positioning, precise angular velocity and other attitude simulation motions for inertial sensor and navigation system testing, and is an important test equipment for navigation / guidance systems and sensors. With the development of technology, multi-axis angular rate linkage (including: two-axis simultaneous angular rate movement, another axis positioning or three-axis simultaneous angular rate movement) has become an indispensable technical means for sensor and system testing. The three-axis turntable usually consists of load installation space 1, inner ring 2, inner ring shaft 3, middle ring 4, middle ring shaft 5, outer ring 6, outer ring shaft 7 and base 8, and e...

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Application Information

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IPC IPC(8): G05B13/02G05B11/32
Inventor 刘樾张聪
Owner 中国航空工业第一集团公司北京航空精密机械研究所
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