Servo controller, servo control system and servo control method

Abstract

The invention relates to a servo controller, a servo control system and a servo control method. The servo controller comprises a Kalman filtering operation module used for acquiring error signals and conducting data forecasting smoothing treatment on the error signals so as to smooth the error signals within the processing period to be linear, and a fuzzy-PID module used for formulating a fuzzy rule list, adjusting PID operation parameters according to the fuzzy rule list, and conducting PID operation on the error signals subjected to data forecasting smoothing treatment according to the PID operation parameters so as to obtain servo driving signals. Compared with the prior art, the servo controller has the advantages that realization is easy, hardware requirement is low, automatic target signal tracking precision and efficiency can be effectively improved, and orbital tracking simulation can be conducted.

Description

technical field [0001] The invention relates to the technical field of satellite tracking, in particular to a servo controller, a satellite tracking servo control system and a satellite tracking servo control method. Background technique [0002] In the servo control design of the tracking system, a method often used is to estimate the running angular velocity and angular acceleration of the target through the synthesis processing of the error signal of the tracked target, and eliminate the error and noise on the angle measurement through filtering processing, and finally form a servo system. Movement guidance signal. The commonly used filtering processing is Kalman filtering processing. This processing method is based on the estimation of the angle data of the target, and there are certain defects: [0003] 1) It is necessary to obtain accurate target position information in order to ensure the tracking accuracy of the system, and the error signal output by the target sign...

AI Technical Summary

Problems solved by technology

[0003] 1) It is necessary to obtain accurate target position information in order to ensure the tracking accuracy of the system, and the error signal output by the target signal receiver reflects the strength of the target signal, not the position signal of the target. In fact, the real position of the target Angle signals are hard to get;

[0004] 2) The entire processing process involves a large number of mathematical operations, the calculation formula is complex, the operation requirements for the servo microcontroller are relatively high, and the operation and processing time is long and other factors have a negative impact on the high sensitivity and real-time performance of the system. The system has minimal tracking hysteresis

[0006] 1) In order to obtain ideal tracking accuracy and stability, there are very high requirements on the processing capacity of the mechanical structure and controller, and at the same time, it has no obvious effect on eliminating the tracking hysteresis of the system;

[0007] 2) The general feed-forward control is applied to the nonlinear system. In the dynamic tracking of the target, the feed-forward compensation amount is difficult to obtain from the tracking error signal, which is greatly affected by the error signal.

Images