Control method for servo speed-regulation system with load acceleration feedback

A technology of speed regulation system and control method, which is applied in the field of artillery follow-up system, can solve the problems of shooting impact moment lag, etc., and achieve the effect of improving performance

Active Publication Date: 2018-01-19
西北机电工程研究所
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  • Abstract
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Problems solved by technology

Therefore the observed shot...

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  • Control method for servo speed-regulation system with load acceleration feedback
  • Control method for servo speed-regulation system with load acceleration feedback
  • Control method for servo speed-regulation system with load acceleration feedback

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0051] The steps that the present invention implements are:

[0052] (1) Judging the speed command ω * (j) Is it there? Yes, enter step (2), otherwise enter step (5), j is the number of steps of speed control;

[0053] (2) Extract motor angular velocity feedback ω(j);

[0054] (3) Is the calculation cycle of speed regulation up? Yes, go to step (4), otherwise go to step (5), the calculation period is T s ;

[0055] (4) Calculate the angular acceleration command a of the speed control system * (j);

[0056] e s (j)=ω * (j)-ω(j)

[0057] u ps (j)=K ps e s (j)

[0058]

[0059] u presats (j)=u ps (j)+u is (j)

[0060]

[0061] Among them: e s (j) is the speed error; u ps (j) is a proportional control item; u is (j) is the integral control item; u ma...

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Abstract

The invention provides a control method for a servo speed-regulation system with load acceleration feedback. First, motor angular speed feedback is extracted for speed ring calculation to obtain an angular accelerated speed instruction; then angular accelerated speed of a load is extracted, the angular rate of an orientation gyroscope is collected, and a current loop controlled quantity is calculated by the utilization of angular accelerated speed feedback; a current loop controlled quantity is calculated according to MTPA; line current is collected to calculate alternate and direct shaft current of a PMSM under dq coordinates; finally, a dq shaft voltage controlled quantity serves as input of park conversion of the PMSM to complete control over the motor. With the control method, influences on tracking precision of shooting impact force borne by a gun servo load tail end can be effectively restrained, positive effects on solving of the problem of structural resonance between a transmission system and the load in the gun servo system and a tooth space non-linear problem in a transmission chain are achieved, and then the performance of the gun servo system is improved.

Description

technical field [0001] The invention belongs to the field of artillery follow-up systems, and mainly relates to a follow-up drive speed regulation system requiring precise tracking, a transmission mechanism, a load of the follow-up system and a control method under the interference of strong impact torque. Background technique [0002] Due to the fast response of the anti-aircraft gun servo system, the equivalent closed-loop method is generally adopted to avoid the stability of the position closed-loop control of the servo system affected by the backlash of the transmission system. The equivalent closed loop means that the motor drives the load to rotate through the power transmission chain, and there is also a measurement chain with the same reduction ratio as the power transmission chain. . After all, the stiffness of the power output shaft cannot be infinite, and its elasticity sometimes causes system structural resonance, which will affect the stability of the system. ...

Claims

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Application Information

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IPC IPC(8): H02P21/00
Inventor 李伟任海波肖文伟
Owner 西北机电工程研究所
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