Method for adjusting control parameters of follow-up device of mechanical device

Abstract

The invention discloses a method for adjusting control parameters of a follow-up device of a mechanical device. The follow-up device for the mechanical device is formed by sequentially connecting a follow-up controller, a power drive unit, a follow-up actuating mechanism and a feedback detection sensor clockwise and annularly. Based on a follow-up command generator and the follow-up device, the method comprises the steps of firstly building a parameter identification device of the follow-up actuating mechanism, adopting a method for measuring output response of the follow-up actuating mechanism through step input to identify model parameters, using an intercept value obtained by intersecting an extension line of an output response static straight line ascent section and the timer axis to identify equivalent viscous damping coefficient and equivalent inertia of the follow-up actuating mechanism, and then adjusting integral coefficient, probability distribution function (PDF) coefficient and differential coefficient of the follow-up controller according to the maximum output voltage of the power drive unit, a maximum value of a follow-up instruction and the equivalent viscous damping coefficient and the equivalent inertia of the follow-up actuating mechanism. By means of the method, the control of targeted parameter adjustment is achieved, and the static and dynamic performance of the follow-up device is improved.

Description

Technical field: [0001] The present invention relates to a follow-up device for mechanical (weapon) equipment, more specifically to a method for adjusting control parameters of a follow-up controller in the follow-up device for mechanical (weapon) equipment. Background technique: [0002] Follow-up devices are widely used in mechanical equipment, such as indexing turntables, robots, machining equipment, etc., especially in weapons and equipment, it forms a fire control device with radar, commander, azimuth level, and log, and its function is to drive Artillery, missile launcher, laser high-energy weapon, rocket launcher and other weapon devices can achieve the purpose of destroying enemy targets efficiently and timely. The follow-up device must have two capabilities. The first is the ability to quickly and accurately aim at the target when the target is found, that is, it must have extremely good dynamic response performance; the second is the ability to track the target smo...

AI Technical Summary

Problems solved by technology

This makes the adjustment of the control parameters of the servo controller blind, the debugging of the servo device is time-consuming and laborious, and the control performance of mechanical (weapon) equipment is difficult to meet the requirements of modern warfare.

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