Method and system of airborne high-precision shaft stable tracking servo turntable

Abstract

The invention relates to the technical field of aerospace measurement and control and particularly relates to a method and system of an airborne high-precision shaft stable tracking servo turntable. According to the method, speed feedforward and acceleration feedforward are added based on traditional PID adjustment, a signal is provided by machine attitude information, so a servo system obtains fast dynamic response, a traditional PID control algorithm is combined, the accuracy of the system is ensured, and the rapidity of the system is ensured at the same time. The system comprises a GPS module, a three-axis gyroscope, an attitude indicator, a controller, a driver, a direct drive motor and a communication antenna, the accurate positioning of a target position and the transmission of the attitude information of a carrier aircraft can be achieved, and a feedforward signal is provided for the controller.

Description

technical field

[0001] The invention relates to the technical field of aerospace measurement and control, in particular to an airborne high-precision axis-stable tracking servo turntable method and system. Background technique

[0002] In the airborne environment, in order to be able to transmit the images and other signals collected by the airborne equipment to the ground for processing and decision-making in real time through the microwave transmission equipment of the airborne equipment at a long distance, it is necessary to ensure that the communication antenna of the airborne aircraft is in a certain position during the movement. Accuracy is always directed to ground equipment, requiring the development of a special stable tracking servo turntable.

[0003] In the servo control system, dynamic tracking is always a difficult point of the servo control system. Due to the strong coupling and nonlinear time-varying characteristics of the servo system itself, it is difficult...

Examples

Embodiment 1

[0046] 1. An airborne high-precision axis-stabilized tracking servo turntable method, comprising the following steps:

[0047] Step 1: Obtain the current position information of the turntable, the current position information of the ground target equipment and the aircraft attitude information;

[0048] Step 2: According to the current position information of the turntable in step 1 and the current position information of the ground target equipment, calculate the position information that the turntable needs to rotate, and calculate the speed signal and acceleration signal of the carrier according to the attitude information of the carrier in step 1 ;

[0049] Step 3: Transmit the position information, speed signal and acceleration signal of the turntable calculated in step 2 to the controller, through the G inside the controller 1 (s), G 2 (s), G 3 (s) and F(s) four transfer function calculations to obtain the position control command to control the rotation of the turnta...

Embodiment 2

[0063] Such as figure 2 Shown, a kind of airborne high-precision axis stable tracking servo turntable system includes GPS module, three-axis gyroscope, attitude instrument, controller, driver, direct drive motor and communication antenna; described GPS module, three-axis gyroscope and The controller is connected to transmit the current position of the turntable and the current position of the ground target equipment; the attitude instrument is connected to the controller to transmit the aircraft attitude information;

[0064] The controller is connected with a driver, and the controller calculates the position information that the turntable needs to rotate according to the current position information of the turntable transmitted by the GPS module and the three-axis gyroscope and the current position information of the ground target equipment, and calculates the position information that the turntable needs to rotate according to the information transmitted by the attitude ins...

technical field

[0001] The invention relates to the technical field of aerospace measurement and control, in particular to an airborne high-precision axis-stable tracking servo turntable method and system. Background technique

[0002] In the airborne environment, in order to be able to transmit the images and other signals collected by the airborne equipment to the ground for processing and decision-making in real time through the microwave transmission equipment of the airborne equipment at a long distance, it is necessary to ensure that the communication antenna of the airborne aircraft is in a certain position during the movement. Accuracy is always directed to ground equipment, requiring the development of a special stable tracking servo turntable.

[0003] In the servo control system, dynamic tracking is always a difficult point of the servo control system. Due to the strong coupling and nonlinear time-varying characteristics of the servo system itself, it is difficult...

Examples

Embodiment 1

[0046] 1. An airborne high-precision axis-stabilized tracking servo turntable method, comprising the following steps:

[0047] Step 1: Obtain the current position information of the turntable, the current position information of the ground target equipment and the aircraft attitude information;

[0048] Step 2: According to the current position information of the turntable in step 1 and the current position information of the ground target equipment, calculate the position information that the turntable needs to rotate, and calculate the speed signal and acceleration signal of the carrier according to the attitude information of the carrier in step 1 ;

[0049] Step 3: Transmit the position information, speed signal and acceleration signal of the turntable calculated in step 2 to the controller, through the G inside the controller 1 (s), G 2 (s), G 3 (s) and F(s) four transfer function calculations to obtain the position control command to control the rotation of the turnta...

Embodiment 2

[0063] Such as figure 2 Shown, a kind of airborne high-precision axis stable tracking servo turntable system includes GPS module, three-axis gyroscope, attitude instrument, controller, driver, direct drive motor and communication antenna; described GPS module, three-axis gyroscope and The controller is connected to transmit the current position of the turntable and the current position of the ground target equipment; the attitude instrument is connected to the controller to transmit the aircraft attitude information;

[0064] The controller is connected with a driver, and the controller calculates the position information that the turntable needs to rotate according to the current position information of the turntable transmitted by the GPS module and the three-axis gyroscope and the current position information of the ground target equipment, and calculates the position information that the turntable needs to rotate according to the information transmitted by the attitude ins...

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