Method for inhibiting position domain periodic interference of electromechanical servo system based on time sampling

An electromechanical servo system and position domain technology, applied in the field of servo control, can solve problems affecting the accuracy of equipment

Inactive Publication Date: 2015-05-13
HARBIN INST OF TECH
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  • Abstract
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Problems solved by technology

[0003] The purpose of the present invention is to propose a method for suppressing periodic interference in the position domain of electromechanical servo systems based on time sampling, so as to solve the problem that the periodic interference in the position domain existing in the existing electromechanical servo control systems seriously affects the accuracy of equipment

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  • Method for inhibiting position domain periodic interference of electromechanical servo system based on time sampling
  • Method for inhibiting position domain periodic interference of electromechanical servo system based on time sampling
  • Method for inhibiting position domain periodic interference of electromechanical servo system based on time sampling

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specific Embodiment approach 1

[0022] Specific implementation mode one: the following combination figure 1 , figure 2 , image 3 , Figure 4 Describe this embodiment, a method for suppressing periodic interference in the position domain of an electromechanical servo system based on time sampling described in this embodiment, is characterized in that the method includes the following steps:

[0023] Step 1. Testing and modeling of the frequency characteristics of the controlled object in the electromechanical servo system;

[0024] Step 2, designing a stabilizing controller for the controlled object model obtained in step 1;

[0025] Step 3, using the closed-loop system with the stabilizing controller described in step 2 to test the periodic interference in the position domain of the electromechanical servo system, and obtain the frequency and amplitude of the periodic interference in the position domain;

[0026] Step 4. According to the frequency of periodic interference in the position domain measure...

specific Embodiment approach 2

[0031] Specific implementation mode two: the following combination figure 2 Describe this embodiment, the difference between this embodiment and specific embodiment 1 is: the frequency characteristic test and modeling of the controlled object of the electromechanical servo system described in step 1 are as follows:

[0032] Firstly, the frequency characteristic test of the electromechanical servo system is carried out: under the open-loop condition of the electromechanical servo system, a sinusoidal command is input to the controlled object, and the amplitude ratio and phase angle difference between the output signal and the input signal of the controlled object are obtained at different frequencies; then Model the controlled object of the electromechanical servo system: use the Matlab identification toolbox to fit the obtained amplitude ratio and phase angle difference to obtain the controlled object model.

specific Embodiment approach 3

[0033] Specific implementation mode three: the following combination image 3 Describe this embodiment, the difference between this embodiment and the specific embodiment 1 or 2 is that the stabilized controller design for the controlled object model obtained in step 1 described in step 2 is as follows: according to the resonance frequency of the electromechanical servo system and the noise frequency range to determine the crossover frequency ω c According to the frequency method of classic automatic control theory, the stabilizing controller is designed, and the phase angle margin is between 50 degrees and 60 degrees.

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Abstract

The invention discloses a method for inhibiting position domain periodic interference of an electromechanical servo system based on time sampling, belongs to the technical field of servo control, and solves the problem that the accuracy of equipment is seriously affected by the position domain periodic interference in the conventional electromechanical servo system. According to the technical main points, the method comprises the following steps: performing frequency characteristic testing and modeling on a controlled object by the electromechanical servo system; designing a stabilizing controller for an obtained controlled object model; testing the position domain periodic interference of the electromechanical servo system by utilizing a closed loop system with the stabilizing controller to obtain the frequency and the amplitude value of the position domain periodic interference; designing a position domain repetitive controller according to the tested frequency of the position domain periodic interference, and performing discretization on the position domain repetitive controller; setting parameters of the repetitive controller and designing a low-pass filter; embedding the repetitive controller which is subjected to the discretization into the electromechanical servo system, so that the purpose of inhibiting the position domain periodic interference is achieved. The method disclosed by the invention is applicable to inhibiting the position domain periodic interference of the electromechanical servo system.

Description

technical field [0001] The invention relates to a method for suppressing periodic interference in the position domain of an electromechanical servo system, in particular to a method for suppressing periodic interference in the position domain of an electromechanical servo system based on time sampling, and belongs to the technical field of servo control. Background technique [0002] With the rapid development of aviation and aerospace, inertial navigation and guidance technology, one of the core technologies in this field, has attracted much attention, which puts forward higher requirements on the performance of inertial components, the core components of inertial navigation and guidance systems. Inertial test equipment is mainly used to calibrate and test the technical indicators of inertial components and verify their feasibility and reliability. Their performance directly affects navigation, guidance accuracy and combat effectiveness of weapon systems. With the developme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02G06F19/00G05B13/04
CPCG05B23/0218
Inventor 霍鑫佟鑫刚尹磊
Owner HARBIN INST OF TECH
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