A Realization Method of Indirect Drive High Precision Servo Under Nonlinear Interference

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

Active Publication Date: 2022-07-26
HEBEI HANGUANG HEAVY IND
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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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  • A Realization Method of Indirect Drive High Precision Servo Under Nonlinear Interference
  • A Realization Method of Indirect Drive High Precision Servo Under Nonlinear Interference
  • A Realization Method of Indirect Drive High Precision Servo 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 embodiments.

[0022] The invention provides an indirect drive high-precision servo realization method under nonlinear interference, which is used for servo control of a stable platform of a seeker head. The stable platform includes a motor, a frame and a gear drive structure, wherein the gear drive structure includes a meshing Drive end gear and load end gear, wherein the drive 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, and it is characterized in that the shaft cable used for the stabilization platform is a helical wiring method; And the method flow is as follows figure 1 shown, including the following steps:

[0023] Build an ideal system model of the stable platform, specifically: take out the shaft cable in the stable platform, replace the shaft connection method with external connection...

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Abstract

The invention discloses an indirect drive high-precision servo realization method under nonlinear interference, which belongs to the technical field of seeker stabilization platforms. Servo performance deterioration caused by other factors. The through-axis cables used in the stable platform are spiral wiring; the method includes the following steps: constructing an ideal system model of the stable platform, calibrating the ideal system model, and obtaining the transfer function G0 of the ideal system model. Servo control the stable platform of the seeker with servo control algorithm, and compare the angular velocity v of the frame with the polarity of the motor output voltage u. When the polarity of v and u are different, they are superimposed in the control amount calculated by the servo control algorithm. Backlash compensation. According to the difference e between the input and output of the stable platform, the superimposed disturbance compensation d is applied to the control variable calculated by the servo control algorithm.

Description

technical field [0001] The invention relates to the technical field of seeker stabilization platforms, in particular to an indirect drive high-precision servo realization method under nonlinear interference. Background technique [0002] As a key component of the guided weapon, the seeker includes a stable platform, a target detector camera, an infrared thermal imager, a radar, a laser, and a target tracker. As a part of the seeker, the stable platform carries various optical and radar sensors, isolates external disturbances, and 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 command to ensure timely searching 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 forward higher requirements for the stable...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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