CN112653367B - Control system and method for common rotating table - Google Patents
Control system and method for common rotating table Download PDFInfo
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- CN112653367B CN112653367B CN202011498191.0A CN202011498191A CN112653367B CN 112653367 B CN112653367 B CN 112653367B CN 202011498191 A CN202011498191 A CN 202011498191A CN 112653367 B CN112653367 B CN 112653367B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a control system and a control method of a common rotating table, wherein the control system comprises a servo mechanism and a control unit, the servo mechanism comprises an angle measuring unit, a driving motor and a rotating table shaft, one end of the rotating table shaft is connected with the common rotating table, the other end of the rotating table shaft is connected with the driving motor of the servo mechanism, the driving motor is connected with the angle measuring unit, and the angle measuring unit of the servo mechanism is connected with the control unit; the control unit comprises a motor driver, a rotary table controller and a computer, wherein the motor driver is connected with the driving motor, the motor driver is connected with the rotary table controller, and the rotary table controller is connected with the computer; the computer is provided with a speed loop control module and a position loop control module, an outer loop controller is formed by the speed loop control module and the position loop control module, the turntable controller comprises a current loop control module, and the current loop control module is arranged in a motor driver and the like; the invention can control the common turntable to realize quick tracking, eliminate errors and the like.
Description
Technical Field
The invention relates to a laser weapon rejection system, in particular to a control system and a control method of a common turntable.
Background
In the existing vehicle-mounted laser weapon rejection system, as the optical platform requires high target tracking precision and strict integral vibration conditions, most of the optical platforms and the radar are separately arranged. For a radar long-distance arrangement mode, the defects of long system preparation time, inflexible use and the like exist; for the arrangement mode that the radar and the optical platform are fixed and vehicle-mounted separately, the defects that the target is blocked in detection or tracking, the devices are easily interfered and the like exist. The existing control system of the common-frame turntable has the problems of low control tracking precision, large error, slow response and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control system and a control method of a common turntable, which can control the common turntable to realize quick tracking, eliminate errors and the like.
The purpose of the invention is realized by the following scheme:
a control system of a common-frame turntable comprises a servo mechanism and a control unit, wherein the servo mechanism comprises an angle measuring unit, a driving motor and a turntable shaft, one end of the turntable shaft is connected with the common-frame turntable, the other end of the turntable shaft is connected with the driving motor of the servo mechanism, the driving motor is connected with the angle measuring unit, and the angle measuring unit of the servo mechanism is connected with the control unit; the control unit comprises a motor driver, a rotary table controller and a computer, wherein the motor driver is connected with the driving motor, the motor driver is connected with the rotary table controller, and the rotary table controller is connected with the computer; the computer is provided with a speed loop control module and a position loop control module, an outer loop controller is formed by the speed loop control module and the position loop control module, the turntable controller comprises a current loop control module, and the current loop control module is arranged in the motor driver; and the servo mechanism is controlled by three loops of a current loop control module, a speed loop control module and a position loop control module, the corresponding pitch and yaw angular deviations of the common rotating table are calculated through a given pointing error, and the angular deviations are sent to a control unit as instructions.
Further, the speed loop control module is used for obtaining a speed instruction and a position instruction of the turntable by using the original expected pointing error as 0 and the target pointing error output by the control unit as the original input of the outer loop controller through negative feedback.
Further, a speed instruction and a position instruction of the rotary table are input into a closed-loop control system formed by the rotary table controller, the driving motor and the table body, a friction torque vehicle body vibration interference value is added among the rotary table controller, the driving motor and the table body, and output from the rotary table angular position to a space direction change angular position is realized through direction error conversion.
And further, acquiring a motion interference value of the vehicle body moving target, decoupling the motion interference value and the turntable space direction change angle position value, and outputting a target direction error.
Furthermore, the control unit comprises a man-machine interaction module, a distributed communication bus module, a controller debugging test module, a controller test module, a serial port communication module and a fault detection module;
the man-machine interaction module is used for providing a motor driver for power-on and power-off, motor enabling and fault resetting operations, and can also provide a working mode setting function;
the distributed communication bus module is used for realizing real-time data exchange of the motor driver, and transmitting the acquired angular position information of the angle measuring unit and various types of state information in the motor driver and simultaneously sending a torque instruction for driving the motor;
the controller debugging and testing module is used for testing frequency characteristics and can provide parameter setting of the controller;
the controller testing module is used for generating step, sine, square wave, triangular wave and S curve testing instructions and can provide data acquisition, storage, processing and analysis functions;
the serial port communication module comprises a plurality of paths of RS422 and RS485 communication interfaces, can communicate with the optical load equipment, and can read UTC (universal time coordinated) timing signals in real time;
the fault detection module is used for monitoring the current, speed and position information of the servo mechanism in real time through the distributed communication bus module, monitoring the running state in real time and sending a fault operation indication instruction when abnormality occurs.
Further, the system comprises an image tracker and a program-controlled power supply, wherein the program-controlled power supply is connected with a computer, the program-controlled power supply is connected with a motor driver, and the image tracker is connected with the computer.
Further, the motor driver comprises an Elmo driver, and the distributed communication bus module comprises an EtherCAT communication module.
Further, the driving motor comprises a PMSM motor, the angle measuring unit comprises a photoelectric coded disc,
further, a band-type brake device is arranged and connected with the motor driver.
A control method based on the control system as described in any one of the above, comprising the steps of:
s1, using the original expected pointing error as 0 and the target pointing error negative feedback output by a control unit as the original input of an outer loop controller to obtain a speed instruction and a position instruction of a rotary table;
s2, inputting a speed instruction and a position instruction of the rotary table into a closed-loop control system formed by a rotary table controller, a driving motor and a table body to obtain an output value of the angular position of the rotary table, adding a friction torque vehicle body vibration interference value among the rotary table controller, the motor and the table body, and realizing the output from the angular position of the rotary table to a space pointing change position through pointing error conversion;
and S3, acquiring a motion interference value of the vehicle body moving target, decoupling the motion interference value from the space pointing change position of the turntable, and finishing the output of the target pointing error.
The invention has the beneficial effects that:
(1) The invention can control the common turntable to realize rapid tracking and eliminate errors; specifically, based on precision errors caused by the stress influence of the vehicle body, friction torque vehicle body vibration interference values are added among the turntable controller, the motor and the platform body to realize interference suppression, so that the precision is improved; the current loop control module is arranged, so that better voltage-torque control characteristics can be provided, the bandwidth can be controlled through the current loop control module, effective suppression of noise is guaranteed, and meanwhile, the frequency band is expanded as much as possible, so that the accuracy is improved; the speed loop control module is arranged, so that the suppression of nonlinear factors such as friction dead zones and the like and the disturbance caused by vehicle-mounted operation are overcome, and the rigidity and the response speed of the system are effectively improved; the position loop control module is arranged, so that the space pointing precision and the decoupling capacity are realized, and the frequency band is expanded as much as possible to reduce the dynamic tracking error when tracking a slope instruction; the speed signal is utilized to improve the decoupling performance, the influence caused by the movement of the vehicle body is effectively inhibited, and the accuracy is favorably improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a practical model of a common turret system according to the present invention;
FIG. 2 is a schematic view of a three-dimensional solid model of a turret body according to the present invention;
FIG. 3 is a schematic structural diagram of a pitch axis system according to the present invention;
FIG. 4 is a schematic view of a yaw axis system according to the present invention;
FIG. 5 is a schematic view of the optical path seal protection structure of the present invention;
FIG. 6 is a schematic structural view of a single-axis turntable of the radar of the present invention;
FIG. 7 is a block diagram of the hardware components of the control unit of the present invention;
FIG. 8 is a functional block diagram of a control unit of the present invention;
FIG. 9 is a schematic diagram of a control strategy of the control unit of the present invention;
FIG. 10 is a block diagram of a single shaft motor drive control for the control unit of the present invention;
FIG. 11 is a graphical illustration of the effect of error in the tracking of the pitch axis for a 30/s velocity and 5/s 2 acceleration command in an embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating the effect of errors in tracking the azimuth axis at a speed of 30/s and an acceleration of 5/s 2 in an embodiment of the present invention;
FIG. 13 is a graph of the error in tracking the azimuth axis at 180/s and 100/s 2 acceleration commands in an embodiment of the present invention;
FIG. 14 is a schematic diagram of method steps according to an embodiment of the present invention;
in the figure, 001-the turret body, 002-the control box, 4-the yaw axis system structure, 30-the second cursory mirror, 31-the pitch frame, 32-the first seal ring, 33-the first pitch motor, 34-the first pitch bearing seat, 35-the first pitch bearing, 36-the first pitch shaft, 37-the laser emitter mount interface, 38-the second cursory mirror mount, 39-the steel grid ruler, 307-the optical tracking device mount interface, 306-the second pitch shaft, 305-the second pitch bearing, 304-the second pitch bearing seat, 303-the second pitch motor, 302-the second seal ring; 3006-pitch axis; 41-bellows bearing, 42-bellows, 43-incident laser mechanical interface, 44-base, 45-first schrader mirror, 46-first schrader mirror support, 47-first slip ring, 48-slip ring bearing, 49-yaw motor, 401-base, 402-YRT bearing, 403-yaw axis; 50-positive pressure seal cavity area, 51-first dynamic seal ring, 52-first static seal ring, 53-second static seal ring, 54-second dynamic seal ring, 55-third static seal ring; 61-radar antenna installation surface, 62-main shaft, 63-bearing, 64-bearing seat, 65-second slip ring, 66-code disc, 67-motor and 6-radar antenna rotary table.
Detailed Description
All features disclosed in all embodiments in this specification, or all methods or process steps implicitly disclosed, may be combined and/or expanded, or substituted, in any way, except for mutually exclusive features and/or steps.
As shown in fig. 1, a control system of a common rotating table comprises a servo mechanism and a control unit, wherein the servo mechanism comprises an angle measuring unit, a driving motor and a rotating table shaft, one end of the rotating table shaft is connected with the common rotating table, the other end of the rotating table shaft is connected with the driving motor of the servo mechanism, the driving motor is connected with the angle measuring unit, and the angle measuring unit of the servo mechanism is connected with the control unit; the control unit comprises a motor driver, a rotary table controller and a computer, wherein the motor driver is connected with the driving motor, the motor driver is connected with the rotary table controller, and the rotary table controller is connected with the computer; the computer is provided with a speed loop control module and a position loop control module, an outer loop controller is formed by the speed loop control module and the position loop control module, the turntable controller comprises a current loop control module, and the current loop control module is arranged in the motor driver; and the servo mechanism is controlled by three loops of a current loop control module, a speed loop control module and a position loop control module, the corresponding pitching and yawing angle deviation of the common turntable is calculated by a given pointing error and is sent to a control unit as an instruction.
Further, the speed loop control module is used for obtaining a speed instruction and a position instruction of the turntable by using the original expected pointing error as 0 and the target pointing error output by the control unit as the original input of the outer loop controller through negative feedback.
Further, a speed instruction and a position instruction of the rotary table are input into a closed-loop control system formed by the rotary table controller, the driving motor and the table body, a friction torque vehicle body vibration interference value is added among the rotary table controller, the driving motor and the table body, and output from the rotary table angular position to a space direction change angular position is realized through direction error conversion.
And further, obtaining a motion interference value of the vehicle body moving target, decoupling the motion interference value from the turntable space direction change angle position value, and outputting a target direction error.
Furthermore, the control unit comprises a man-machine interaction module, a distributed communication bus module, a controller debugging and testing module, a controller testing module, a serial port communication module and a fault detection module;
the man-machine interaction module is used for providing the motor driver for power on and power off, motor enabling and fault resetting operations and can also provide a working mode setting function;
the distributed communication bus module is used for realizing real-time data exchange of the motor driver, and transmitting the acquired angular position information of the angle measuring unit and various types of state information in the motor driver and simultaneously sending a torque instruction for driving the motor;
the controller debugging and testing module is used for testing frequency characteristics and can provide parameter setting of the controller;
the controller testing module is used for generating step, sine, square wave, triangular wave and S curve testing instructions and can provide data acquisition, storage, processing and analysis functions;
the serial port communication module comprises a plurality of paths of RS422 and RS485 communication interfaces, can communicate with the optical load equipment, and can read UTC (universal time coordinated) timing signals in real time;
the fault detection module is used for monitoring the current, speed and position information of the servo mechanism in real time through the distributed communication bus module, monitoring the running state in real time, and sending out a fault operation instruction when abnormality occurs.
Further, the system comprises an image tracker and a program-controlled power supply, wherein the program-controlled power supply is connected with a computer, the program-controlled power supply is connected with a motor driver, and the image tracker is connected with the computer.
Further, the motor driver comprises an Elmo driver, and the distributed communication bus module comprises an EtherCAT communication module.
Further, the driving motor comprises a PMSM motor, the angle measuring unit comprises a photoelectric coded disc,
further, a band-type brake device is arranged and connected with the motor driver.
As shown in fig. 14, a control method based on any one of the above control systems includes the steps of:
s1, using the original expected pointing error as 0 and the target pointing error negative feedback output by a control unit as the original input of an outer loop controller to obtain a speed instruction and a position instruction of a rotary table;
s2, inputting a speed instruction and a position instruction of the rotary table into a closed-loop control system formed by a rotary table controller, a driving motor and a table body to obtain an output value of the angular position of the rotary table, adding a friction torque vehicle body vibration interference value among the rotary table controller, the motor and the table body, and realizing the output from the angular position of the rotary table to a space pointing change position through pointing error conversion;
and S3, acquiring a motion interference value of the vehicle body moving target, decoupling the motion interference value from the space pointing change position of the turntable, and finishing the output of the target pointing error. And converting the signal of the target pointing error from a continuous time signal output mode into a corresponding frequency domain mode, and outputting the signal to the outer loop controller in a negative feedback mode.
In other embodiments of the present invention, as shown in fig. 1 to 13, the controlled turntable system includes a common turntable system of an optical platform and a radar, which includes a yaw axis system structure 4, a pitch axis system structure, a radar antenna turntable structure 6, and a light path sealing protection structure; the yaw axis system structure 4 is connected with the light path sealing protection structure, the light path sealing protection structure is connected with the pitching axis system structure, and the pitching axis system structure is connected with the radar antenna turntable structure 6; the light path sealing protection structure is provided with a dynamic sealing friction force transmission unit device for reducing stress transmission to the shafting structure 4 and the pitching shafting structure.
The pitch shafting structure comprises a pitch shaft 3006, a second Coudman mirror 30, a pitch frame 31, a first pitch motor 33, a first pitch bearing seat 34, a first pitch bearing 35, a laser emission tube mounting interface 37, a second Coudman mirror support 38, an angle measuring element, an optical tracking device mounting interface 307, a second pitch bearing 305, a second pitch bearing seat 304 and a second pitch motor 303, wherein the pitch shaft 3006 comprises a first pitch shaft 36 and a second pitch shaft 306, the first pitch shaft 36 is symmetrical to the second pitch shaft 306, the first pitch bearing 35 is connected with the first pitch bearing seat 34, the second pitch bearing 305 is connected with the second pitch bearing seat 304, the first pitch bearing 35 is symmetrical to the second pitch bearing 305, and pretightening force caused by bearing backlash of the first pitch bearing 35 and the second pitch bearing 305 is respectively sealed in the first pitch bearing seat 34 and the second pitch bearing seat 304 and does not transmit axial force to the pitch frame 31; the second cursory mirror 30 is connected with a second cursory mirror support 38; a laser emitting barrel mounting interface 37 is arranged at the first pitch shaft 36 end of the pitch shaft 3006, and an optical tracking device mounting interface 307 is arranged at the second pitch shaft 306 end of the pitch shaft 3006; the middle inner position of the pitching shaft 3006 is provided with a rotating range of-5 degrees to 80 degrees; the first pitch motor 33 is connected to the first pitch shaft 36, and the second pitch motor 303 is connected to the second pitch shaft 306; the goniometer element is mounted below the optical tracking device mounting interface 307.
Yaw axis system structure 4 includes base 44, first cursory 45, first cursory support 46, first slip ring 47, slip ring bearing 48, yaw motor 49, base 401, support element, yaw axis 403, bellows 42, bellows bearing 41, and incident laser mechanical interface 43; the first cursory mirror 45 is connected with the base 44, the first cursory mirror 45 is connected with the first cursory mirror support 46, the first slip ring 47 is connected with the slip ring bearing 48, the slip ring bearing 48 is connected with the yaw motor 49, the yaw motor 49 is installed on the base 401, the base 401 is connected with the supporting element, the supporting element is connected with the yaw shaft 403, the bellows 42 is connected with the bellows bearing 41, and the incident laser mechanical interface 43 is connected with the base 44.
The optical path sealing protection structure is used for cleaning an optical path from the bottom of the yaw axis 403 to the mount optical load of the pitch axis 3006, and comprises a first dynamic sealing ring 51, a first static sealing ring 52, a second static sealing ring 53, a second dynamic sealing ring 54 and a third static sealing ring 55; a first static seal ring 52 and a second static seal ring 53 are arranged between the pitch shaft 3006 and the optical load, and a first dynamic seal ring 51 and a second dynamic seal ring 54 are arranged between the pitch shaft 3006 and the pitch frame 31 in the positive pressure seal cavity area 50.
The radar antenna turntable structure 6 comprises a radar antenna mounting surface 61, a main shaft 62, a bearing 63, a bearing seat 64, a second slip ring 65, a coded disc 66 and a motor 67; the radar antenna mounting surface 61 is connected with the main shaft 62, the main shaft 62 is connected with the bearing 63, the bearing 63 is connected with the bearing seat 64, the second slip ring 65 is connected with the motor 67, the motor 67 is connected with the code wheel 66, and the shell of the motor 67 serves as a base of the radar antenna turntable structure 6.
The dynamic sealing friction force transmission unit device comprises a corrugated pipe, an upper flange, a lower flange, a derotation shaft, an aluminum alloy cylinder and a sealing ring, wherein the upper flange and the lower flange are connected to the corrugated pipe; the upper flange of the corrugated pipe is connected with the derotation shaft in a sealing way, and a dynamic sealing ring is arranged between the derotation shaft and the corrugated pipe.
The pitch frame 31 includes an airtight portion where a plurality of internal reinforcing ribs are provided, and a driving and supporting portion for driving and supporting the pitch shaft 3006.
The pitch axis system structure comprises a first sealing ring 32 and a second sealing ring 302, and the first sealing ring 32 and the second sealing ring 302 are symmetrically arranged.
The pitch axis system structure comprises a battery brake device, and the battery brake device is electrically connected with the motor drivers of the first pitching motor 33 and the second pitching motor 303 respectively and used for being automatically locked after power failure.
The support element comprises a YRT bearing 402. The yaw motor 49 can adopt an alternating current brushless torque motor, the first slip ring 47 adopts a double-layer conductive slip ring structure, and the angle measuring element can adopt a steel grating ruler 39 and the like.
The common-rack turntable system is composed of a mechanical turntable main body and a control unit, and a model diagram of the common-rack turntable system is shown in figure 1. The mechanical turntable main body comprises a pitching shafting structure, a yawing shafting structure 4, a light path sealing protection structure, a radar antenna turntable structure 6 and the like; the control unit comprises a control hardware part and control software.
In the embodiment, the co-rotating table system adopts a high-performance alternating current brushless torque motor as a driving element, a high-precision angle position sensor as an angle measuring element and a high-performance computer to realize complex digital control, thereby realizing high-performance motion control.
Taking the pitch axis 3006 as an example, the command signal given by the simulation computer is sent to the pitch axis driving controller by the control computer through the bus after passing through the servo correction algorithm, the pitch axis of the stage body is driven after being amplified by the pitch frame motor driving controller, the angle measuring element measures the angle position of the pitch axis and then sends the angle position to the driver, and the driver sends the angle position to the control computer through the bus to realize closed-loop control.
Considering the motion function requirements of several loads and the sealing requirements of light paths, the rotary table main body is designed into a T-shaped structure, a yaw axis adopts a larger hollow structure, and an optical conduction device (Code mirror) is arranged in the yaw axis. A supporting frame of a pitching shaft system is directly arranged on an axial end face at the upper end of a yawing shaft system, a pitching shaft 3006 is designed into a bilateral symmetry structure, a hollow half shaft is processed in the middle of the pitching shaft 3006 to provide an optical path, optical loads (a laser emission tube and optical tracking and aiming equipment) respectively extend out of the left end face and the right end face of the pitching shaft, and the loads on the left side and the right side rotate synchronously mechanically.
A radar antenna single-shaft turntable is arranged on the upper part of the pitching frame 31 to realize independent position servo control of the radar, and a three-dimensional solid model of a mechanical table body is shown in figure 2.
In the embodiment, the pitch axis system structure design scheme is as shown in fig. 3, and a symmetrical structure design is adopted: the pitching shaft system is supported by two sets of angular contact ball bearings on the left and right, and the angular contact ball bearings are respectively arranged back to back, and pretightening force caused by clearance elimination of the bearings is respectively sealed in the bearing seats on the left and right, so that axial force is not transmitted to the pitching frame 31, and the pitching frame 31 and the pitching shaft 3006 cannot deform. In addition, the weight of the transition clamp for loading at two ends is adjusted during design, so that the gravity balance at two ends of the shafting is ensured as much as possible, and higher rotation precision of the pitching shafting is obtained.
The pitch axis 3006 provides two left and right load mount end surfaces, wherein the left mount end surface is used for mounting a tracking measurement device, and is integrally mounted on the left and right load mount end surfaces after being directly integrated by a unified load mount. The pitching shaft 3006 is used for supporting optical loads, and in the middle inner position of the pitching shaft, a pitching shaft rotating range of-5 degrees to 80 degrees and a corresponding optical path are provided for an optical transmission device, and the pitching shaft 3006 can be made of 40Cr or 38CrMoAL steel so as to meet the requirements of sufficient rigidity and strength and ensure good thermal stability. In order to realize the structural symmetry design of a pitching shaft system and reduce the influence of load deformation, especially thermal deformation on pointing accuracy as much as possible, two sets of motors are used for driving in a bilateral symmetry mode. The existing absolute steel grid ruler can be adopted, the measuring scale is of a full-circle structure, bonding is not needed, and the measuring precision is high. The pitching frame 31 is made of high-quality cast aluminum alloy, is bilaterally symmetrical and is divided into an airtight part and a shaft system driving and supporting part, and a plurality of internal reinforcing ribs are designed on the airtight part to obtain enough structural rigidity. In the design of the rotation precision of a pitching shaft system, 4 sets of angular contact ball bearings with P4-level precision are adopted, the bearing support span is 564mm, and the rotation precision of +/-4' can be ensured through precision machining and mechanical adjustment.
The design scheme diagram of the yawing shafting structure 4 is shown in fig. 4, a YRT bearing is used as a supporting element of the yawing shafting, the YRT bearing is a novel bearing which is oriented to the requirements of low inclination angle gyration error and high rigidity support of a turntable type large hollow shafting, high flatness is guaranteed by precisely grinding two main supporting end faces of the YRT bearing, and then the error homogenization effect is further realized by increasing the number of rolling bodies and rolling the special designed rolling bodies, so that the inclination angle gyration error is effectively reduced, and the anti-overturning rigidity of the shafting is improved.
To ensure high rigidity and low weight of the susceptor, an aluminum alloy having a quality of ZL114A cast aluminum was used for the susceptor. The key for ensuring the rotation precision of the inclination angle of the yaw shafting is to ensure the flatness of the YRT bearing installation reference surface besides selecting a high-precision bearing. For this reason, the main positioning plane of the YRT bearing is designed to be convex, and the flatness of the positioning reference plane can be further improved by grinding on the basis of the finish machining surface. The yaw motor adopts an alternating current brushless torque motor. The angle measuring element adopts the existing absolute steel grating ruler, the measuring scale is of a full circle structure, bonding is not needed, and the measuring precision is high. In order to reduce the weight, the base 44 adopts a box type structure, ZL114A high-quality cast aluminum alloy material is used, and the azimuth axis adopts a double-layer conductive slip ring structure and the like.
In an embodiment, the design of the coaxial turntable system needs to consider the cleanness of an optical path between the bottom of a yaw axis and a pitch axis for carrying optical loads, and an O-shaped ring end face static seal is adopted between the pitch axis and telescope loads as shown in FIG. 5. The sealing between the pitching shaft 3006 and the pitching frame 31 is radial dynamic sealing at the left and right positions, and the end face static sealing of the frame accessories at the two positions adopts O-shaped ring sealing. The sealing between the pitching frame 31 and the yaw shaft 403 adopts O-shaped end face static sealing. The device is provided with a dynamic sealing friction force transmission unit device which comprises a set of corrugated pipe designed by the embodiment of the invention, namely, the corrugated pipe is connected with two flanges, the corrugated pipe can be arranged in a thin-wall aluminum alloy cylinder through a lower flange and a sealing ring carried by the corrugated pipe, the lower end of the corrugated pipe is connected with the aluminum alloy cylinder in a sealing way, and then the corrugated pipe is connected with the end face of the outer ring aluminum alloy cylinder in a sealing way through the flange and the sealing ring of the aluminum alloy cylinder; the upper flange of the corrugated pipe is connected with a specially arranged corrugated pipe derotation shaft in the embodiment of the invention in a sealing way, the derotation shaft is supported by a set of ultra-light four-point angular contact bearings, a dynamic seal is arranged between the derotation shaft and a rotary table yaw shaft, the derotation shaft transmits the friction force of the dynamic seal to the flexible corrugated pipe, and the corrugated pipe can effectively reduce the stress transmitted to the optical installation platform, thereby improving the output precision of the optical equipment.
The structural design of the radar antenna turntable takes a single shaft as an example, namely, the mechanical structural scheme of the radar antenna single shaft turntable is shown in figure 6, and the mounting surface 61 of the radar antenna is machined by reducing the weight of super-hard aluminum alloy. A set of four-point angular contact ball bearings are adopted for shafting support, so that the axial height is reduced as much as possible. The driving element adopts the direct drive of the alternating-current brushless torque motor, and meanwhile, the motor shell directly serves as a base of the single-shaft turntable. The angle measuring element adopts an absolute optical code disc in the prior art, and the conductive slip ring is configured according to the requirements of the radar antenna.
In other embodiments of the present invention, the control unit includes an embedded small computer, a driver and an electromagnetic compatibility device with an EtherCAT bus interface, a logic control unit, a switch button, a dc power supply, various connectors and cables, etc., and the block diagram is shown in fig. 7. The hardware equipment such as an embedded computer, an I/0 expansion card, a serial port expansion card, a power panel and the like can adopt the prior art; the drive control circuit adopts the existing Elmo driver and is provided with an EtherCAT bus/Endat 2.2 absolute encoder interface and the like.
In order to meet the requirements of the functions of a servo mechanism test and performance evaluation system, a man-machine interaction interface developed by LabWindows is a main program of the system, is mainly used for displaying the information of the current system such as the state, parameters and the like, and can be used for configuring the parameters and working modes of the system and calling other subprograms, thereby realizing the debugging work of servo control; the EtherCAT subprogram developed by using visual studio is mainly used for sending instructions and collecting system data in real time to realize a closed-loop control function, and the functional module division is as shown in fig. 8 and includes:
and the human-computer interaction functional module provides a motor driver for performing operations such as power-on and power-off, motor enabling, fault resetting and the like, and also provides a working mode setting function.
The EtherCAT communication function adopts an Elmo driver in the hardware design of the embodiment, and the driver adopts the distributed communication bus EtherCAT which is mainstream in the industrial control field at present, so that the all-digital closed-loop control can be realized. In order to realize closed-loop control through a computer, a real-time EtherCAT master station program is developed to realize real-time data exchange with three drivers, and closed-loop control is realized by acquiring angular position information of a code disc (including various types of state information inside the drivers) and simultaneously sending a torque instruction of a motor.
The debugging function of the controller provides various typical test signals, the system can automatically test the frequency characteristics of each shaft of the system, provides the functions of open-close loop control of the controller, parameter setting of the controller and the like, and is convenient for debugging personnel to continuously correct the parameters of the controller according to the test result by combining the performance test module until the performance index meets the requirement.
The system performance test and analysis functions are controlled, software can automatically generate typical test instructions such as step, sine, square wave, triangular wave, S curve and the like, and data acquisition, storage, processing and analysis functions are provided. The performance of the control system can be tested according to the national military standard (or other industry standard) or an algorithm specified by a user, and a basis is provided for the modification of the controller and the functional and performance evaluation of the mechanism and the motor.
The operation mode setting function is realized, the software has the tracking function under various guide sources, the switching among the guide modes can be realized, the operation can be automatically carried out under four modes of coarse image tracker guide, rocker guide, common radar target information guide and external radar target information guide according to the instruction, and the two-axis instruction is automatically solved and tracked.
The software has a multi-channel RS422 and RS485 communication function, can be communicated with optical load equipment and can read UTC time system signals in real time.
The system can monitor the current, the speed and the position information of the servo mechanism in real time through an EtherCAT bus in the operation process of the servo control system, monitors the operation state of the system in real time by using instructions and a mathematical model of the system according to a corresponding fault detection algorithm, and can automatically cut off the instructions or close a driver when abnormality occurs, so that possible damage to the tested equipment is avoided.
A control system structural block diagram as shown in fig. 9 is constructed. And solving the angle deviation of pitching and yawing of the corresponding rotary table according to the given pointing error, and sending the angle deviation as an instruction to a rotary table position closed-loop control system to realize quick tracking so as to eliminate the error. In order to ensure that the spatial pointing accuracy meets the requirements, a turntable control system has enough response speed, and can effectively overcome the friction torque of a shafting and the torque disturbance caused by the motion and vibration of a vehicle body. A block diagram for driving and controlling a single shaft of the turntable is designed according to the mechanical structure, composition and driving mode of the system, as shown in fig. 10.
Each shaft adopts an alternating current permanent magnet synchronous motor as an actuator, a corresponding drive controller adopts an Elmo driver, the drivers adopt Park conversion to realize vector control of the motors, and SPWM sine waves are adopted to realize the drive of the motors. In the control scheme, a multi-loop control mode of a current loop, a speed loop and a position loop is adopted, the current loop is realized in an Elmo drive, and the speed loop and the position loop are realized in a computer. The main purpose of adopting the current closed loop is to provide better voltage-torque control characteristics, ensure the effective suppression of noise by designing the bandwidth of the current loop, expand the frequency band as far as possible and facilitate the creation of conditions for the design of an outer loop. The speed loop method is adopted to overcome the suppression of nonlinear factors such as friction dead zones and the like and the disturbance caused by vehicle-mounted operation, and the rigidity and the response speed of the system are effectively improved. The spatial pointing accuracy and decoupling capacity are realized through the position loop, and when the position loop is designed, the bandwidth design is considered, and the frequency band is expanded as much as possible to reduce the dynamic tracking error when the slope instruction is tracked. The speed signal provided by the inertial measurement unit platform is used for improving the decoupling performance of the system and effectively inhibiting the influence caused by the movement of the vehicle body. In FIG. 10, n ref Is the desired angular deviation; n is an angle output feedback error; theta γ Is an angle output value; omega is the error of angular velocity；ω ref Is the angular velocity expected deviation; parameters internal to the Elmo drive are self-charged.
In order to verify the accessibility of the performance indexes of the common turntable and the effectiveness of a control system, a set of double-shaft automatic turntable is used for testing the control performance, the turntable is connected with a steel plate through a vibration isolator (the connection is completely inhibited with the fixing mode of the turntable and a vehicle body), then the steel plate is placed on four tires for simulating the shaking and the bumping of the vehicle body, the control precision of the turntable is tested according to the typical working condition of the common turntable, and the test results are shown in fig. 11, fig. 12 and fig. 13. The test process is carried out under the condition of shaking the base, and the test result shows that even when the 180-degree per-second instruction is tracked, the tracking error of the system is within 0.008 degree (corresponding to 0.14 mrad), the precision is high, and the engineering application requirement of the common turntable system is met.
Claims (10)
1. A control system of a common-frame turntable is characterized by comprising a servo mechanism and a control unit, wherein the servo mechanism comprises an angle measuring unit, a driving motor and a turntable shaft, one end of the turntable shaft is connected with the common-frame turntable, the other end of the turntable shaft is connected with the driving motor of the servo mechanism, the driving motor is connected with the angle measuring unit, and the angle measuring unit of the servo mechanism is connected with the control unit; the control unit comprises a motor driver, a rotary table controller and a computer, wherein the motor driver is connected with the driving motor, the motor driver is connected with the rotary table controller, and the rotary table controller is connected with the computer; the computer is provided with a speed loop control module and a position loop control module, an outer loop controller is formed by the speed loop control module and the position loop control module, and the turntable controller comprises a current loop control module; the servo mechanism is controlled by three loops of a current loop control module, a speed loop control module and a position loop control module, the corresponding pitching and yawing angle deviation of the common rotating table is calculated through a given pointing error, and the angle deviation is used as an instruction and sent to a control unit; adding a friction torque vehicle body vibration interference value between a turntable controller and a driving motor, and outputting a value from the angle position of the turntable to the spatial orientation change angle position of the turntable through orientation error conversion;
the controlled rotary table system comprises a yaw axis system structure, a pitching axis system structure, a radar antenna rotary table structure and a light path sealing protection structure; the light path sealing protection structure comprises a dynamic sealing friction force transmission unit device, wherein the dynamic sealing friction force transmission unit device comprises a corrugated pipe, an upper flange, a lower flange, a derotation shaft, an aluminum alloy cylinder and a sealing ring, wherein the upper flange and the lower flange are connected to the corrugated pipe; the upper flange of the corrugated pipe is connected with the derotation shaft in a sealing way, and a dynamic sealing ring is arranged between the derotation shaft and the corrugated pipe.
2. The control system of claim 1, wherein the original desired pointing error and the target pointing error are negatively fed back as original inputs of the outer loop controller to obtain the current command of the turntable, wherein the original desired pointing error is 0.
3. A control system for a co-rotating table as claimed in claim 2, wherein the current command of the rotating table is inputted to the closed loop control system formed by the rotating table controller, the driving motor and the table body, and the output value of the angular position of the rotating table is obtained.
4. The control system of claim 3, wherein the motion disturbance value of the moving target of the vehicle body is obtained and decoupled from the spatial orientation change angular position value of the turntable, and then the target orientation error is output.
5. The control system of a co-rotating table according to any one of claims 1 to 4, wherein the control unit comprises a man-machine interaction module, a distributed communication bus module, a controller debugging module, a controller testing module, a serial communication module and a fault detection module;
the man-machine interaction module is used for providing power-on and power-off, motor enabling and fault resetting operations for the motor driver and simultaneously providing a working mode setting function;
the distributed communication bus module is used for realizing real-time data exchange of the motor driver, transmitting the acquired angular position information of the angle measuring unit and various types of state information in the motor driver, and simultaneously sending a torque instruction for driving the motor;
the controller debugging module is used for testing frequency characteristics and can provide parameter setting of the controller;
the controller testing module is used for generating step, sine, square wave, triangular wave and S curve testing instructions and can provide data acquisition, storage, processing and analysis functions;
the serial port communication module comprises a plurality of paths of RS422 and RS485 communication interfaces, can communicate with the optical load equipment, and can read UTC (universal time coordinated) timing signals in real time;
the fault detection module is used for monitoring the current, speed and position information of the servo mechanism in real time through the distributed communication bus module, monitoring the running state in real time, and sending out a fault operation instruction when abnormality occurs.
6. A control system for a co-gantry crane as claimed in claim 5, further comprising an image tracker and a programmable power supply, wherein the programmable power supply is connected to the computer, the programmable power supply is connected to the motor driver, and the image tracker is connected to the computer.
7. The co-gantry turntable control system of claim 5, wherein the motor drive comprises an Elmo drive and the distributed communications bus module comprises an EtherCAT communications module.
8. A co-gantry turntable control system as claimed in claim 1, wherein the drive motor comprises a PMSM motor and the goniometer unit comprises a photo-electric code wheel.
9. A control system for a co-rotating table according to claim 1, wherein a band-type brake device is provided, and the band-type brake device is connected with the motor driver.
10. A control method based on the control system according to claim 5, characterized by comprising the steps of:
s1, using the original expected pointing error and the target pointing error as the original input of an outer loop controller to obtain a current instruction of a turntable; wherein the original desired pointing error is 0;
s2, inputting a current instruction of the rotary table into a closed-loop control system formed by a rotary table controller, a driving motor and a table body to obtain an output value of the angular position of the rotary table, adding a friction torque vehicle body vibration interference value between the rotary table controller and the driving motor, and realizing the output of the angular position of the rotary table to a spatial orientation change angular position value of the rotary table through orientation error conversion;
and S3, acquiring a motion interference value of the vehicle body moving target, decoupling the motion interference value from the turntable space direction change angle position value, and finishing the output of the target direction error.
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