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Indirect driving high-precision servo implementation method under nonlinear interference

A realization method and high-precision technology, applied in the direction of offensive equipment, projectiles, self-propelled projectiles, etc., can solve the problems of servo performance degradation, etc., and achieve the effect of reducing the magnitude of the torque and making it easy to predict

Active Publication Date: 2020-12-04
HEBEI HANGUANG HEAVY IND
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the present invention provides an indirect drive high-precision servo implementation method under nonlinear interference, which can solve the nonlinear interference torque caused by the cable passing through the shaft, the servo performance change caused by factors such as gear drive backlash and friction torque, etc. poor problem

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  • Indirect driving high-precision servo implementation method under nonlinear interference
  • Indirect driving high-precision servo implementation method under nonlinear interference
  • Indirect driving high-precision servo implementation method under nonlinear interference

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Embodiment Construction

[0021] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0022] The invention provides an indirect drive high-precision servo implementation method under nonlinear interference, which is used for servo control of the stable platform of the seeker. The stable platform includes a motor, a frame and a gear drive structure, wherein the gear drive structure includes a meshing The driving end gear and the load end gear, wherein the driving end gear is sleeved on the output shaft of the motor, and the load end gear is sleeved on the drive shaft of the frame. It is characterized in that the shaft-through cable adopted by the stable platform is a spiral wiring method; And the method flow is as follows figure 1 shown, including the following steps:

[0023] Construct the ideal system model of the stable platform, specifically: take out the through-shaft cable in the stable platform, replace the through-shaft connection w...

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Abstract

The invention discloses an indirect driving high-precision servo implementation method under nonlinear interference, and belongs to the technical field of seeker stabilized platforms. The method can solve the problem that the servo performance becomes poor due to factors such as nonlinear interference torque, gear transmission backlash and friction torque caused by shaft penetrating cables, wherein the shaft penetrating cables adopted by the stabilized platform are in a spiral wiring mode. The method includes the following steps that an ideal system model of the stabilized platform is built and calibrated, so that a transfer function G0 of the ideal system model is obtained; a servo control algorithm is adopted to carry out servo control over the stabilized platform of the seeker; the angular velocity v of a frame is compared with the polarity of the output voltage u of a motor, and when the v is different from the u polarity, backlash compensation is superposed in the control quantitycalculated by the servo control algorithm; and interference compensation d is superposed on the control quantity calculated by the servo control algorithm according to the difference e between the input quantity and the output quantity of the stabilized platform.

Description

technical field [0001] The invention relates to the technical field of a seeker stabilization platform, in particular to an indirect drive high-precision servo realization method under nonlinear interference. Background technique [0002] As a key component of guided weapons, the seeker includes three parts: stable platform, target detector camera, thermal imaging camera, radar, laser, etc., and target tracker. As a part of the seeker, the stable platform carries various optical and radar sensors, isolates external disturbances, ensures clear imaging of the detector, and stable tracking of the tracker. At the same time, the servo mechanism of the stable platform can quickly respond to the received instructions, ensuring timely search or pointing to the target. With the continuous advancement of technology and the increasingly complex application environment, the seeker is developing towards miniaturization and compounding. This puts higher requirements on the stable platfo...

Claims

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Application Information

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IPC IPC(8): F42B15/01
CPCF42B15/01
Inventor 吴盼良商美霞佐大伟常志英武因峰王禄禄
Owner HEBEI HANGUANG HEAVY IND
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