Digital follow-up device for mechanized equipment and control method thereof

Abstract

The invention discloses a digital follow-up device for mechanized equipment and a control method thereof. The digital follow-up device is composed of a digital control computer, a digital-to-analog conversion module, a power driving module, a driving motor, a coupling, the mechanized equipment, an optical-electricity encoder and a high-speed counting module which are sequentially and annularly connected along the clockwise direction. The control method of the digital follow-up device comprises steps of initializing an integrator, reading follow-up command signals and feedback signals, comparing the follow-up command signals and the feedback signals to obtain error signals, accumulating integrations of the error signals to be multiplied by integration coefficients to obtain integration products, enabling feedback signals to be multiplied by probability distribution function (PDF) coefficients to obtain a PDF product, conducting differences on the feedback signals to be multiplied by a difference coefficient to obtain a difference product, enabling the difference product to subtract the PDF product and then subtract the difference product, conducting overrun distinguishing and processing on an obtained difference value, and finally conducting digital-to-analog conversion on the difference value to obtain analog quantity control signals to control the mechanized equipment through the power driving module.

Description

[0001] Technical field: [0002] The present invention relates to a mechanical (weapon) equipment digital follower and a control method, in particular to a digital computer controlled digital follower with excellent performance and suitable for mechanical (weapon) equipment and a control method. Background technique: [0003] 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...

AI Technical Summary

Problems solved by technology

The traditional known follow-up control method widely used today can no longer meet the requirements, and it is imperative to adopt a new follow-up device

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