Acceleration compensation control method of suspension floating object follow-up system and mode-selection-based control method of suspension floating object follow-up system
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A follow-up system and compensation control technology, applied in the direction of auxiliary non-electric speed/acceleration control, etc., can solve the problems that there is no closed-loop speed and acceleration control method, and the drive controller of the follow-up platform cannot be used directly.
Inactive Publication Date: 2015-03-25
HARBIN UNIV OF SCI & TECH
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[0005] The present invention is to solve the traditional method that the servo platform drive controller in the suspension floating object servo system cannot be directly used in the motor speed control mode, and the existing suspension floating object se
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specific Embodiment approach 1
[0034] Specific Embodiment 1: The acceleration compensation control method of a suspension floating object follower system described in this embodiment, the method includes the following steps:
[0035] Step 1: Set the two mutually perpendicular directions on the horizontal plane of the target body in the suspension floating object servo system as X and Y respectively, and establish the kinematics and dynamics equations of the suspension floating object servo system;
[0036] Step 2: Put α x and alpha y As a state quantity combined with a scaling factor, θ x and θ y As the state quantity combined with the differential coefficient, the ∫α x and ∫α y As a state quantity combined with the integral coefficient, the and As a state quantity combined with the acceleration coefficient;
[0037] According to the kinematics and dynamics equations, the speed and acceleration based controller of the motor in speed control mode is obtained:
[0038] ...
specific Embodiment approach 2
[0041] Specific embodiment 2: This embodiment is a further description of the acceleration compensation control method of a suspended floating object follow-up system described in specific embodiment 1. In this embodiment, the kinematics and dynamics described in step 1 The equation is:
[0042] ( M x + m ) x · · + C x x · + ml θ · · x = ...
specific Embodiment approach 3
[0044] Specific embodiment three: This embodiment is to further explain the acceleration compensation control method of a suspended floating object servo system described in specific embodiment one. In this embodiment, the following method is used in step two to obtain the Speed and acceleration based controller in speed control mode:
[0045] First, the kinematic and dynamic equations are rewritten as and about and The functional form of
[0046] ml θ · · x - F x = - ( M x + m ) ...
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Abstract
The invention discloses an acceleration compensation control method of a suspension floating object follow-up system and a mode-selection-based control method of the suspension floating object follow-up system, and belongs to the field of suspension floating object follow-up systems. The acceleration compensation control method and the mode-selection-based control method aim at solving the problem that a controller designed for follow-up platform driving with a traditional method can not be directly used for motor rotation speed control modes. The acceleration compensation control method of the suspension floating object follow-up system includes the four steps of firstly establishing kinematical and dynamical equations, determining a motor control mode of the suspension floating object follow-up system, designing a controller and adjusting parameters. The problems that in the traditional method, driving force F<x> and driving force F<y> serve as control items, only a torque model can be adopted for a motor, and the performance can not be sufficiently developed; the requirement of the motor for the control mode of the motor is lowered, the performance of the motor is better developed accordingly, and the control performance of the suspension floating object follow-up system is improved. The acceleration compensation control method and the mode-selection-based control method are suitable for the field of the suspension floating object follow-up systems.
Description
technical field [0001] The invention belongs to the field of suspension floating object follow-up systems, and relates to an acceleration compensation control method of the suspension floating object follow-up system. Background technique [0002] The ground zero-gravity environment simulation system of the suspension method is widely used in astronaut training and spacecraft dynamics research. The system suspends some kind of target that can actively move horizontally in the vertical direction, and offsets the weight of the target through constant tension control to achieve zero-gravity simulation. At the same time, the follow-up system is used to control the suspension device to follow the movement of the target body in the horizontal direction, and to compensate the influence of the suspension device on the horizontal movement of the target body. The control performance of the follow-up system determines the accuracy of the target object simulating its own horizontal mov...
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