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Method for effectively inhibiting single rod tracking zero drift

A zero-position drift and tracking method technology, applied in the field of servo control system, can solve the problem of uncontrollable disturbance torque effect, and achieve the effect of suppressing zero-position drift, suppressing zero-position drift, and the method is effective and concise

Inactive Publication Date: 2012-06-27
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Problems solved by technology

[0003] In order to solve the problem that the speed closed-loop and position open-loop control are adopted in the existing single-rod tracking control process, and then the influence of the disturbance moment on the drift cannot be controlled, the present invention provides an effective method for suppressing the zero-position drift of the single-rod tracking

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  • Method for effectively inhibiting single rod tracking zero drift
  • Method for effectively inhibiting single rod tracking zero drift
  • Method for effectively inhibiting single rod tracking zero drift

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Embodiment Construction

[0019] combine Figure 3 to Figure 6 Describe this embodiment, an effective method for suppressing the zero drift of single-rod tracking, which is implemented by the following steps:

[0020] 1. Acquisition working method; the working method includes index tracking method, visible TV tracking method or infrared TV tracking method;

[0021] 2. Determine whether it is a single-lever work mode, if not, enter other tracking methods, and if so, enter the single-lever workflow;

[0022] 3. If it enters the single-lever workflow, judge whether the single-lever enters the dead zone;

[0023] 4. If you do not enter the single-lever dead zone range, continue to work in the single-lever mode. If you enter the single-lever dead zone range, collect the current encoder value, and assign the single-lever controller value to the digital controller, and switch the working mode to Numeric fixed-point working mode;

[0024] 5. In the fixed-point working mode, judge whether the single pole exc...

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Abstract

A method for effectively inhibiting single rod tracking zero drift relates to a servo control system field. In a current single rod tracking control process, speed closed loop control and position open loop control are used so that influence generated by a disturbance torque on the drift can not be controlled. By using the method of the invention, the above problem can be solved. After the single rod returns to zero, a single rod tracking system automatically switches to a position closed loop system which takes a current encoder as a zero point. During the switching, a single rod controller variable is assigned to a digital guiding controller so that smooth switching can be achieved. Taking a current encoder position as fixed point guiding, when the single rod swings out an instant of a dead zone scope, the system automatically opens the position fixed point guiding loop and switched into a traditional single rod speed guiding mode. Because there is the position fixed point guiding after the single rod returns to zero, the drift caused by various kinds of the disturbance torques can be inhibited. The method is suitable for speed stabilization tracking and stabilization positioning during turntable single rod tracking. The method has substantial effect on the control system which generates the position drift because of the disturbance torque of friction and the like, such as a follow-up turntable and the like.

Description

technical field [0001] The invention relates to the field of servo control systems, in particular to an effective method for suppressing single-rod tracking zero drift. Background technique [0002] In recent years, with the increasing demand for measuring equipment such as theodolites and various stable platforms, the drift problem generated during single-rod tracking has also attracted more and more attention. This kind of drift is mostly caused by friction torque, motor disturbance torque and external disturbance torque, etc. Single-rod tracking drift data such as figure 1 shown. In order to completely suppress this drift, these external disturbance moments must be effectively controlled. However, the traditional single-lever control adopts speed closed-loop and position open-loop control, and it is difficult to effectively control the influence of these disturbance moments on drift. Contents of the invention [0003] In order to solve the problem that the existing s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
Inventor 张玉良张淑梅米阳杜壁秀林兆华
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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