A non-orthogonal six-bar dynamic communication servo system and control method

Abstract

A non-orthogonal six-rod dynamic communication servo system and control method, including a measurement feedback unit, a control unit, a drive unit, and a servo antenna, wherein the measurement feedback unit further includes an azimuth angle encoder, a pitch position encoder, and a roll position encoder encoder, polarized angle encoder, data acquisition card; the control unit includes ACU, strapdown inertial group, six-axis motion control and drive module; the drive unit includes linear motor, azimuth worm, polarized worm, electric push rod , The linear motor includes a first linear motor and a second linear motor, and the electric push rod includes a first electric push rod, a second electric push rod, a third electric push rod, and a fourth electric push rod. The invention has simple mechanical structure, high integration degree of servo control system, and can realize four-axis linkage as well as miniaturization and light weight.

Description

technical field [0001] The invention relates to a non-orthogonal six-bar communication servo system in motion and a control method, belonging to the field of communication servo systems in motion. Background technique [0002] The traditional communication servo system in motion is mostly implemented in the way of two-axis or three-axis orthogonal or offset, the rotating mechanism mostly adopts the shaft structure, and the servo control method mostly adopts the multi-motor drive method based on the classic PID control theory. [0003] The feature of the dynamic communication servo system is that the system is required to be simple and reliable, and the response speed is fast, but the control accuracy is not high. Using an orthogonal or offset shafting structure to realize the dynamic servo system, its structure is relatively complex, and requires high precision in processing, installation and adjustment, and due to the characteristics of the shafting structure itself, the dy...

AI Technical Summary

Problems solved by technology

The structure of this communication-in-motion servo control method is relatively complex, there are many intermediate links, the control link is long, and the integration degree is low. While increasing the complexity of the structure of the communication-in-motion servo system, it is not conducive to the simplification and reliable design of the control system. , is also not conducive to system debugging and fault judgment, location and elimination, and is not conducive to system miniaturization and light weight

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