CN102866636B - Control loop design method capable of reflecting performance of vibration reduction system - Google Patents

Control loop design method capable of reflecting performance of vibration reduction system Download PDF

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Publication number
CN102866636B
CN102866636B CN201210351733.0A CN201210351733A CN102866636B CN 102866636 B CN102866636 B CN 102866636B CN 201210351733 A CN201210351733 A CN 201210351733A CN 102866636 B CN102866636 B CN 102866636B
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vibration insulating
photoelectric follow
insulating system
control loop
motor
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CN102866636A (en
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刘兴法
杜俊峰
扈宏毅
包启亮
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Institute of Optics and Electronics of CAS
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Institute of Optics and Electronics of CAS
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Abstract

A control loop design method capable of reflecting the performance of a vibration damping system is suitable for simulation or semi-physical simulation of a control system of a photoelectric tracking system or a radar system which is arranged on the vibration damping system. Aiming at the problems that a vibration damping system and a control system are relatively independent to each other during simulation and a photoelectric tracking system needs to be fixed on a real object platform of the vibration damping system during test, a three-order system is used as a controlled object in a control loop, and the influence of the vibration damping system on the control loop of the photoelectric tracking system is reflected. The specific implementation method comprises the following steps: a three-order system containing the performance of a damping system replaces the original one-order system to be used as a controlled object to design a control loop, and the control loop can be realized in a control loop of a simulation or actual system.

Description

A kind of control loop method for designing that can embody vibration insulating system performance
Technical field
The present invention relates to a kind of control loop method for designing that can embody vibration insulating system performance, specifically, when the relatively independent foundation of vibration insulating system and control system during exactly for emulation, test, photoelectric follow-up need to be fixed on the problem on vibration insulating system mock-up, realize and in control system, embody vibration insulating system performance, in ground photoelectric follow-up, realize being arranged on the hardware-in-the-loop simulation of photoelectric follow-up on vibration insulating system platform.
Background technology
For improving the maneuverability of photoelectric follow-up, photoelectric follow-up need to be arranged on motion platform and work, simultaneously in order to ensure the safe and reliable of photoelectric follow-up, conventionally photoelectric follow-up is fixed on motion platform by vibration insulating system, to reduce the vibration on motion platform and to impact the impact on photoelectric follow-up.Being arranged on the photoelectric follow-up on vibration insulating system, there is variation in the controll plant of its control loop.Carrying out system emulation and hardware-in-the-loop simulation, is the Development Schedule of guarantee system and the necessary means of success ratio.At present, analogue system is mainly to carry out in MATLAB, sets up control loop in Simulink module, sets up vibration insulating system model in SimMechanics module, generally speaking, and the process of establishing more complicated of realistic model; The hardware-in-the-loop simulation of carrying out photoelectric follow-up on emulation vibration insulating system platform taking photoelectric follow-up as material object yet there are no relevant report.Vibration insulating system is reacted directly in controll plant the impact of photoelectric follow-up control loop, can simplifies the foundation of realistic model, also can carry out hardware-in-the-loop simulation, significant to the development of photoelectric follow-up on vibration insulating system platform.
Summary of the invention
The technical problem to be solved in the present invention is: simplify the realistic model of photoelectric follow-up on vibration insulating system platform, realize the hardware-in-the-loop simulation to photoelectric follow-up on vibration insulating system platform in the photoelectric follow-up on foundation platform.
The technical solution adopted for the present invention to solve the technical problems is: a kind of control loop method for designing that can embody vibration insulating system performance, is characterized in that performing step is as follows:
(1) the moment of inertia J of orientation (or pitching) system of measurement or calculating photoelectric follow-up m, motor and load be folded to the viscous friction coefficient f on motor reel m.
In ground photoelectric follow-up, the controll plant of control system is:
C m R a f m + C m C e J m R a R a f m + C m C e s + 1
C m: the moment coefficient of motor;
C e: the back emf coefficient of motor;
R a: the armature circuit resistance of motor;
S: Laplace transform operator;
(2) measure or calculate photoelectric follow-up pedestal and vibration insulating system part rigidly connected with it moment of inertia J around azimuth axis i(for pitching system, J ifor the track frame of photoelectric follow-up is removed after the rotating part of pitching, and vibration insulating system part rigidly connected with it is around the moment of inertia of pitch axis), the viscous friction coefficient f of vibration insulating system i, vibration insulating system is along the stiffness coefficient G in rotor shaft direction.
The controll plant of photoelectric follow-up on vibration insulating system platform, can be equivalent on foundation platform the controll plant of control system in photoelectric follow-up and be:
J i C m s 2 + ( f i - f m ) C m s + C m G F ( s )
F(s)＝R aJ mJ is 3+(R aJ mf i+R af mJ i+J iC eC m+J mC eC m)s 2
+(R aJ mG+R af mf i+f iC eC m)s+R af mG+C eC mG
(3) in emulation or test, with the controll plant in the controll plant replacement (1) in (2), can realize emulation or hardware-in-the-loop simulation to photoelectric follow-up on vibration insulating system platform, and can by the Verification that changes vibration insulating system, the control effect after different vibration insulating systems be installed easily.
The present invention compared with prior art has following advantage: the present invention is the impact on photoelectric follow-up control loop vibration insulating system, is equivalent to photoelectric tracking system motors control model on foundation platform and changes; By the change of controlled object model, realize the emulation of the impact of vibration insulating system on photoelectric follow-up control loop, or in ground photoelectric follow-up, realize the hardware-in-the-loop simulation of the impact of vibration insulating system on photoelectric follow-up control loop; Simplify the realistic model of vibration insulating system platform photoelectric follow-up simultaneously, also overcome and on vibration insulating system platform, carried out the defect that photoelectric follow-up test needs vibration insulating system mock-up, and vibration insulating system model parameter in kind has changed the defect being restricted.
Brief description of the drawings
Fig. 1 is the control loop schematic diagram of photoelectric follow-up.
Embodiment
Introduce in detail the present invention below in conjunction with embodiment.
The inventive method, as an example of azimuth system example (method of pitching system is identical with the method for azimuth system), is specifically implemented as follows:
(1) the moment of inertia J of the azimuth system of measurement or calculating photoelectric follow-up m, motor and load be folded to the viscous friction coefficient f on motor reel m.
In ground photoelectric follow-up, the controll plant of control system is:
C m R a f m + C m C e J m R a R a f m + C m C e s + 1
C m: the moment coefficient of motor;
C e: the back emf coefficient of motor;
R a: the armature circuit resistance of motor;
S: Laplace transform operator;
(2) measure or calculate photoelectric follow-up pedestal and vibration insulating system part rigidly connected with it moment of inertia J around azimuth axis i, vibration insulating system viscous friction coefficient f i, vibration insulating system is along the stiffness coefficient G in rotor shaft direction.
The controll plant of photoelectric follow-up on vibration insulating system platform, can be equivalent on foundation platform the controll plant of control system in photoelectric follow-up and be:
J i C m s 2 + ( f i - f m ) C m s + C m G F ( s )
F(s)＝R aJ mJ is 3+(R aJ mf i+R af mJ i+J iC eC m+J mC eC m)s 2
+(R aJ mG+R af mf i+f iC eC m)s+R af mG+C eC mG
(3) in emulation or test, with the controll plant in the controll plant replacement (1) in (2), as shown in Figure 1, can realize emulation or hardware-in-the-loop simulation to photoelectric follow-up on vibration insulating system platform, and can by the Verification that changes vibration insulating system, the control effect after different vibration insulating systems be installed easily.
As known from the above, the present invention has simplified the realistic model of photoelectric follow-up on vibration insulating system platform; Can in foundation platform photoelectric follow-up, complete the hardware-in-the-loop simulation to photoelectric follow-up on vibration insulating system platform.

Claims (1)

1. can embody a control loop method for designing for vibration insulating system performance, it is characterized in that performing step is as follows:
(1) measure or calculate the azimuth system of photoelectric follow-up or the moment of inertia J of pitching system m, motor and load be folded to the viscous friction coefficient f on motor reel m,
In ground photoelectric follow-up, the controll plant of control system is:
C m R a + f m + C m C e J m R a R a f m + C m C e s + 1
C m: the moment coefficient of motor;
C e: the back emf coefficient of motor;
R a: the armature circuit resistance of motor;
S: Laplace transform operator;
(2) measure or calculate photoelectric follow-up pedestal and vibration insulating system part rigidly connected with it moment of inertia J around azimuth axis i, vibration insulating system viscous friction coefficient f i, vibration insulating system is along the stiffness coefficient G in rotor shaft direction; For pitching system, J ifor the track frame of photoelectric follow-up is removed after the rotating part of pitching vibration insulating system part rigidly connected with it around the moment of inertia of pitch axis;
The controll plant of photoelectric follow-up on vibration insulating system platform, is equivalent on foundation platform the controll plant of control system in photoelectric follow-up:
J i C m s 2 + ( f i - f m ) C m s + C m G F ( s )
F(s)＝R aJ mJ is 3+(R aJ mf i+R af mJ i+J iC eC m+J mC eC m)s 2+(R aJ mG+R af mf i+f iC eC m)s+R af mG+C eC mG
(3) in emulation or test, with the controll plant in the new controll plant replacement step (1) in step (2), realize emulation or hardware-in-the-loop simulation to photoelectric follow-up on vibration insulating system platform, and by the Verification that changes vibration insulating system, the control effect after different vibration insulating systems is installed.
CN201210351733.0A 2012-09-20 2012-09-20 Control loop design method capable of reflecting performance of vibration reduction system Active CN102866636B (en)

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EP1130759A1 (en) * 1998-09-18 2001-09-05 Kabushiki Kaisha Yaskawa Denki Motor controller
JP2009015477A (en) * 2007-07-03 2009-01-22 Yokogawa Electric Corp Simulation device
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