Pitching angle tracking control method of follow-up system

A technology of angle tracking and control method, which is applied in the direction of using feedback control, etc., can solve the problems that cannot realize fast and high-precision tracking control, and achieve the effect of high-precision target tracking control

Active Publication Date: 2020-02-14
BEIJING INST OF SPECIALIZED MACHINERY
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AI Technical Summary

Problems solved by technology

[0005] The rotation angle of the turret is directly proportional to the rotation angle of the slewing motor, and the PID control algorithm can realize fast and high-precision tracking control; while the pitch angle of the turret and the pitch mo

Method used

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  • Pitching angle tracking control method of follow-up system
  • Pitching angle tracking control method of follow-up system
  • Pitching angle tracking control method of follow-up system

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Embodiment Construction

[0023] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples of implementation.

[0024] A follow-up system pitch angle tracking control method is characterized in that the method includes the following content:

[0025] Compare pitch given angle value and pitch angle feedback value θ p , calculate the angle error, use the feedforward plus proportional derivative control algorithm, and output the given value of the pitch speed Using the speed conversion equation ω m * =f(θ p )·ω p * , the given value of the pitch rate Conversion to motor speed reference output to the motor driver;

[0026] The feedforward plus proportional derivative control algorithm is as follows:

[0027]

[0028]

[0029] Among them, K p is the proportional gain, K d is the differential gain,...

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Abstract

The invention, which belongs to the technical field of follow-up control, provides a pitching angle tracking control method of a follow-up system, thereby realizing rapid and high-precision follow-upcontrol of a weapon tracking system pitching machine. According to the method, a pitch given angle value and an angle feedback value are compared through a follow-up control system to calculate an angle error; a pitching speed given value is outputted by using a feedforward+proportional differential (PD) control algorithm; the pitching angle speed given value is converted into a motor speed givenvalue by using a speed conversion equation and the motor speed given value is outputted to a motor driver to realize PID control linearization; a driver conducts speed control to drive a motor to rotate and an electric actuator cylinder is driven to stretch out and draw back, so that the rapid and high-precision target tracking control over the pitching mechanism is realized.

Description

technical field [0001] The invention belongs to the technical field of servo control, and in particular relates to a pitch angle tracking algorithm of a servo system. Background technique [0002] The follow-up system is an important part of the weapon system, and it is the basic link that constitutes the weapon automation system. The weapon tracking servo system can provide 360° azimuth angle and -10°~+70° inward target tracking for artillery and missile weapons. The follow-up control system can control the driving execution equipment to accurately track external instructions in real time according to the change of the control quantity input from the outside world. [0003] The servo system device has two degrees of freedom of turning and pitching, and is mainly composed of a base, a turning machine, a turret, a pitching machine and a launching frame. [0004] The follow-up control system receives the target angle information of the upper system, and uses the proportional...

Claims

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Application Information

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IPC IPC(8): G05D3/20
CPCG05D3/20
Inventor 张慧勇贾梦白璐瑶
Owner BEIJING INST OF SPECIALIZED MACHINERY
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