High-precision indirect transmission servo stability control method

Abstract

The invention discloses a high-precision indirect transmission servo stability control method, and relates to the technical field of servo control. According to the method, the control process is divided into a large error stage and a small error stage, and different control purposes are achieved. The control purpose of the large error stage is to quickly respond to the error change and quickly reduce the error magnitude; the control purpose of the small-error stage is to isolate high-frequency disturbance and improve low-frequency precision. According to the method, different control strategies are adopted for the two stages, a proportional and differential control strategy is adopted in the large error stage, the error magnitude can be rapidly reduced through proportional control, meanwhile, positive and negative direction changes of errors can be rapidly responded, and magnitude changes of the errors can be rapidly responded through differential control. In the small error stage, aproportional and integral control strategy is adopted in a forward channel to improve the low-frequency precision, and an incomplete differential control strategy is adopted in a feedback channel to isolate high-frequency disturbance. According to the method, stable control over the stable platform of the seeker is achieved, and the control precision of the indirect transmission servo system is improved.

Description

technical field [0001] The invention relates to the technical field of servo control, in particular to a high-precision indirect transmission servo stabilization control method. Background technique [0002] In the seeker, the stable platform is a servo system that ensures the probe is pointed at a stable space and moves at a given speed. The servo stabilization control method is the core of the stabilized platform. The gyroscope and motor in the stabilized platform are connected into a closed-loop system, which determines the performance of the stabilized platform. [0003] In some seekers, due to space constraints, the motor needs to be geared. Gear backlash and transmission delays introduce nonlinear disturbances to the stabilized platform, reducing system accuracy and stability. [0004] In order to improve the performance of the stabilized platform of the seeker, most of the literature starts with the structure of the control algorithm or the measurement of disturbanc...

AI Technical Summary

Problems solved by technology

Complicated control algorithms will inevitably reduce the response speed and have higher requirements for processing chips; the interference of indirect transmission is an unmeasured item, and the method of interference observation requires accurate system modeling, otherwise errors will be introduced, and there are obvious problems in interference observation. Delay

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