CN109656135A - A kind of servomechanism opens braking shock resistance method - Google Patents
A kind of servomechanism opens braking shock resistance method Download PDFInfo
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- CN109656135A CN109656135A CN201811523432.5A CN201811523432A CN109656135A CN 109656135 A CN109656135 A CN 109656135A CN 201811523432 A CN201811523432 A CN 201811523432A CN 109656135 A CN109656135 A CN 109656135A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/041—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a variable is automatically adjusted to optimise the performance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
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Abstract
The invention belongs to gun servo control technical fields, and in particular to a kind of servomechanism opens braking shock resistance method.This method includes by the way that the main order of angular speed calculates angular velocity margin of error, angular velocity control ring is set, set to current regulator, seek angular acceleration calculating amount according to electric current calculating output valve, angular acceleration calculation amount carries out clipping, restriction accelerates the time, and angular acceleration output quantity is converted to angular speed value of feedback.Angular acceleration during the present invention enables signal generate by the way that angular velocity is main carries out clipping and acceleration time and is defined, seamlessly transit angular acceleration, so that the main order of angular speed steadily reaches the main of needs within the desired time and enables value, to reduce the influence impacted to system, servomechanism impact resistance is improved.This method is at low cost, and the period is short, it is easy to accomplish.
Description
Technical field
The invention belongs to gun servo control technical fields, and in particular to a kind of servomechanism opens braking shock resistance method.
Background technique
Servomechanism used at present, it is desirable that speed is high, and has the characteristics that response is fast, and system is doing fixed point step signal
Afterwards, it is desirable that system reaches with most fast acceleration the speed of needs opening braking link, and when system is with a certain high-speed cruising, it is right
The impact of system is bigger, seriously affects the stability and dynamic indicator of servomechanism, influences system lifetim.
There is biggish rotary inertia since gun turret rotates relative to it axis, when the velocity variations of Setting signal are larger,
Opening the deboost phase, it is impossible to be rapidly achieved the speed of setting, cause error that can be gradually increased, governing loop repeatedly occurs in system
Violent oscillation can be brought to cannon, generate very big impact to mechanical.Open that braking percussion is big to ask to solve servomechanism
Topic carries out segment processing frequently with to speed, seeks optimal bootstrap algorithm, the method to reach speed smooth transition, and this
Method is relatively high for the requirement of speed segment design, so that speed ring design becomes more complicated.
Summary of the invention
(1) technical problems to be solved
The present invention proposes that a kind of servomechanism opens braking shock resistance method, steady with how solution improves servomechanism speed
The technical issues of property and shock resistance effect.
(2) technical solution
In order to solve the above-mentioned technical problem, the present invention proposes that a kind of servomechanism opens braking shock resistance method, the shock resistance
Method includes the following steps:
Step 1 calculates angular velocity margin of error by the main order of angular speed；Including receiving, servomechanism angular speed is main to enable value Vref,
According to formula Ve=Vref-Vfb, calculate angular speed error amount Ve, wherein VfbFor angular speed value of feedback；With angular speed error amount work
For angular speed ring design of Regulator foundation；
Step 2, angular velocity control ring are set；It is PI control including set angle speed control ring；Angular speed ring tune
Save device ST are as follows:
Wherein, KpvFor proportionality coefficient in angular speed control ring；KivFor integral coefficient；
Step 3 sets current regulator；Including setting electric current ring adjuster LT are as follows:
Wherein,Represent first order inertial loop；T is small time constant in current regulator；
Step 4 seeks angular acceleration calculating amount according to electric current calculating output valve；Including the angular speed obtained according to step 1
The setting that error amount and step 2 and 3 angular velocity control rings and current regulator carry out show that electric current calculates output valve I,
According to relational expression
In formula, M is rotating torque, CeFor torque coefficient, J is system rotary inertia, JmFor motor rotation inertia, JlFor
Load rotating inertia, ε are angular acceleration calculating amount；
Seek angular acceleration calculating amount ε:
After dimension conversion, angular acceleration calculating amount ε is obtainedk:
Step 5, angular acceleration calculation amount carry out clipping, restriction accelerates the time；Including angular acceleration calculation amount
εkAmplitude limiting processing is carried out, limitation system carries out turning operation with excessively high angular acceleration, while limiting and accelerating the time, obtains angle of departure
Acceleration value Ak；
Angular acceleration output quantity is converted to angular speed value of feedback by step 6；Including integrating angular acceleration values, turn
It is changed to angular speed value of feedback Vfb:
After dimension conversion, obtain
Further, in step 2, Proportional coefficient K in angular speed control ring is chosenpv=9.5, integral coefficient Kiv=0,
Angular speed ring adjuster ST=9.5.
Further, in step 3, small time constant T is 1.25ms in flow control ring, then electric current loop adjuster LT are as follows:
Further, in step 4, Ce=0.7Nm/A, Jm=1.4*10-3kg·m2, Jl=0, electric current calculates output
Value I=300A calculates output valve according to electric current, seeks angular acceleration calculating amount ε are as follows:
After dimension conversion, angular acceleration calculating amount ε is obtainedk=8.6 × 106(°/s2)。
Further, in steps of 5, as angular acceleration values AkWhen greater than system maximum angular acceleration, angular acceleration values AkFor
System maximum angular acceleration；As angular acceleration values AkWhen less than system maximum angular acceleration, angular acceleration values AkWith time-frequency spy
Property, Ak=K*t (°/s2), wherein K is angular acceleration slope.
(3) beneficial effect
Servomechanism proposed by the present invention opens braking shock resistance method, and this method includes calculating angle speed by the main order of angular speed
The degree margin of error, angular velocity control ring are set, are set to current regulator, seeking angle according to electric current calculating output valve
Acceleration calculation amount, angular acceleration calculation amount carry out clipping, restriction accelerates the time, and angular acceleration output quantity is turned
It is changed to angular speed value of feedback.Angular acceleration during the present invention enables signal generate by the way that angular velocity is main carries out clipping and acceleration
Time is defined, and seamlessly transits angular acceleration, so that angular speed is main to enable the master for steadily reaching needs within the desired time
Value is enabled, to reduce the influence impacted to system, improves servomechanism impact resistance.This method is at low cost, and the period is short, is easy to
It realizes.
Detailed description of the invention
Fig. 1 is shock resistance of embodiment of the present invention method structural block diagram；
Fig. 2 is shock resistance of embodiment of the present invention algorithm flow chart；
Fig. 3 is shock resistance of embodiment of the present invention method acceleration change contrast schematic diagram.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to tool of the invention
Body embodiment is described in further detail.
A kind of servomechanism that the present embodiment proposes opens braking shock resistance method, and the overall structure of this method is as shown in Figure 1, stream
Journey is as shown in Fig. 2, specifically comprise the following steps:
Step 1 calculates angular velocity margin of error by the main order of angular speed
It receives that servomechanism angular speed is main enables value, enables value calculate angular speed error amount by the way that angular speed is main, as speed ring
The foundation of design of Regulator；Wherein, angular speed error amount Ve=angular speed is main to enable value VrefAngular speed value of feedback Vfb:
In the present embodiment, if angular speed is main to enable value Vref=30rpm, angular speed value of feedback Vfb=0rpm, then angular speed error
Value Ve=Vref-Vfb=30rpm；
Step 2, angular velocity control ring are set
Set angle speed control ring is PI control；Angular speed ring adjuster ST are as follows:
In the present embodiment, Proportional coefficient K in angular speed control ring is chosenpv=9.5, integral coefficient Kiv=0, then angular speed
Ring adjuster ST=9.5；
Step 3 sets current regulator
Setting electric current ring adjuster LT are as follows:
In formula,Represent first order inertial loop；
In the present embodiment, choosing small time constant T in current regulator is 1.25ms, then electric current loop adjuster LT are as follows:
Step 4 seeks angular acceleration calculating amount according to electric current calculating output valve
The angular speed error amount and step 2 and 3 angular velocity control rings and current regulator obtained according to step 1 into
Capable setting show that electric current calculates output valve I,
According to relational expression
(note: ignoring the influence of loading moment)
In formula, M is rotating torque；CeFor torque coefficient；J is system rotary inertia, JmFor motor rotation inertia, JlFor
Load rotating inertia；ε is angular acceleration calculating amount；
Seek angular acceleration calculating amount ε are as follows:
After dimension conversion, angular acceleration calculating amount ε is obtainedkAre as follows:
In the present embodiment, Ce=0.7Nm/A, Jm=1.4*10-3kg·m2, Jl=0, electric current calculates output valve I=
300A calculates output valve according to electric current, seeks angular acceleration calculating amount ε are as follows:
After dimension conversion, angular acceleration calculating amount ε is obtainedk=8.6 × 106(°/s2)；
Step 5, angular acceleration calculation amount carry out clipping, restriction accelerates the time
Angular acceleration calculation amount εkAmplitude limiting processing is carried out, limitation system carries out turning operation with excessively high angular acceleration, together
When can according to the time limit accelerate the time, on the one hand guarantee system impact property, on the other hand guarantee system it is quick
Property influence, obtain angular acceleration values Ak；
In the present embodiment, contradistinction system maximum angular acceleration is 60 °/s2, due to Ak60 °/s of >2, then angular acceleration is set
Amplitude Ak=60 °/s2；Again because of 0 to 60 °/s2, angular acceleration is mutation, then sets angular acceleration and add in 0.3S arrival maximum angular
Speed, then angular acceleration slope is K=200, and angular acceleration has time-frequency characteristic, Ak=200*t (°/s2)；When carrying out clipping
Maximum value A can be setkh(60 °/s) and minimum value Akl(- 60 °/s), and it is compared judgement respectively；Acceleration change comparison
As shown in Figure 3；
Angular acceleration values are converted to angular speed value of feedback by step 6
Angular acceleration values are integrated, angular speed value of feedback V is converted tofbAre as follows:
It is fed back and is converted according to angular acceleration to angular speed, angular speed feedback function should be Vfb=Ak* t (°/s), dimension turn
After changing, obtain
Step 7 obtains angular speed value of feedback Vfb, continued cycling through by the first step.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of servomechanism opens braking shock resistance method, which is characterized in that the shock resistance method includes the following steps:
Step 1 calculates angular velocity margin of error by the main order of angular speed；Including receiving, servomechanism angular speed is main to enable value Vref, according to
Formula Ve=Vref-Vfb, calculate angular speed error amount Ve, wherein VfbFor angular speed value of feedback；Using angular speed error amount as angle
Velocity loop regulator design considerations；
Step 2, angular velocity control ring are set；It is PI control including set angle speed control ring；Angular speed ring adjuster
ST are as follows:
Wherein, KpvFor proportionality coefficient in angular speed control ring；KivFor integral coefficient；
Step 3 sets current regulator；Including setting electric current ring adjuster LT are as follows:
Wherein,Represent first order inertial loop；T is small time constant in current regulator；
Step 4 seeks angular acceleration calculating amount according to electric current calculating output valve；Including the angular speed error obtained according to step 1
The setting that value and step 2 and 3 angular velocity control rings and current regulator carry out show that electric current calculates output valve I, foundation
Relational expression
In formula, M is rotating torque, CeFor torque coefficient, J is system rotary inertia, JmFor motor rotation inertia, JlFor load
Rotary inertia, ε are angular acceleration calculating amount；
Seek angular acceleration calculating amount ε:
After dimension conversion, angular acceleration calculating amount ε is obtainedk:
Step 5, angular acceleration calculation amount carry out clipping, restriction accelerates the time；Including angular acceleration calculation amount εkIt carries out
Amplitude limiting processing, limitation system carries out turning operation with excessively high angular acceleration, while limiting and accelerating the time, obtains angular acceleration
Value Ak；
Angular acceleration output quantity is converted to angular speed value of feedback by step 6；Including integrating angular acceleration values, be converted to
Angular speed value of feedback Vfb:
After dimension conversion, obtain
2. shock resistance method as described in claim 1, which is characterized in that in the step 2, choose in angular speed control ring
Proportional coefficient Kpv=9.5, integral coefficient Kiv=0, angular speed ring adjuster ST=9.5.
3. shock resistance method as described in claim 1, which is characterized in that in the step 3, the small time is normal in flow control ring
Number T is 1.25ms, then electric current loop adjuster LT are as follows:
4. shock resistance method as described in claim 1, which is characterized in that in the step 4, Ce=0.7Nm/A, Jm=
1.4*10-3kg·m2, Jl=0, electric current calculates output valve I=300A, calculates output valve according to electric current, seeks angular acceleration calculating
Measure ε are as follows:
After dimension conversion, angular acceleration calculating amount ε is obtainedk=8.6 × 106(°/s2)。
5. shock resistance method as described in claim 1, which is characterized in that in the step 5, as angular acceleration values AkIt is greater than
When system maximum angular acceleration, angular acceleration values AkFor system maximum angular acceleration；As angular acceleration values AkLess than system maximum angular
When acceleration, angular acceleration values AkWith time-frequency characteristic, Ak=K*t (°/s2), wherein K is angular acceleration slope.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112361877A (en) * | 2020-11-24 | 2021-02-12 | 西北机电工程研究所 | Universal control module for gun AC servo driver |
| CN114488794A (en) * | 2021-12-30 | 2022-05-13 | 北京动力机械研究所 | Method for inhibiting nutation of stamping range-increasing cannonball by adopting rudder |
| CN117389135A (en) * | 2023-12-11 | 2024-01-12 | 湖南揽月机电科技有限公司 | Satellite reaction flywheel moment control method and device |
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Cited By (5)
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|---|---|---|---|---|
| CN112361877A (en) * | 2020-11-24 | 2021-02-12 | 西北机电工程研究所 | Universal control module for gun AC servo driver |
| CN114488794A (en) * | 2021-12-30 | 2022-05-13 | 北京动力机械研究所 | Method for inhibiting nutation of stamping range-increasing cannonball by adopting rudder |
| CN114488794B (en) * | 2021-12-30 | 2024-04-19 | 北京动力机械研究所 | Method for restraining nutation of stamping range-extending shell by adopting rudder |
| CN117389135A (en) * | 2023-12-11 | 2024-01-12 | 湖南揽月机电科技有限公司 | Satellite reaction flywheel moment control method and device |
| CN117389135B (en) * | 2023-12-11 | 2024-04-19 | 湖南揽月机电科技有限公司 | Satellite reaction flywheel moment control method and device |
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Application publication date: 20190419 |