旋转调制惯导用转位机构及高精度控制技术
|
摘要
旋转调制式惯导系统对其转位机构的控制精度提出了较高需求,针对这一需求,提出了一种基于直流有刷力矩电机的旋转调制惯导用转位机构及其高精度控制技术。用旋转变压器作为角度测量器件,直流力矩电机作为执行元件,研发了位置-速度-电流三闭环复合控制器,提出了前馈与PID复合的控制策略以及饱和校正PID控制算法,实现对电机的位置、速度以及电枢电流的快速平稳控制,完成对转位机构的高精度驱动。通过Simulink数值仿真和实物校验表明,该技术是有效的且控制精度满足设计要求,具有一定的工程应用价值。
The strap-down inertial navigation system with rotation-modulation has raised a higher requirement for the precision of position transformation system; and aiming at this requirement and based on the DC( direct current) torque motor,a position transformation system and a control method are proposed. The revolving transformer to measure the angle and the DC torque motor to drive the position transformation system are used to study the position-velocity-current PID( proportion integration differentiation) control loop. The feed-forward control method and saturation correction algorithm are proposed to realize the high accuracy of the position control for the transformation system. The Simulink numerical simulation results show that the control method is effective and the control precision can satisfy the design specification requirement. Under actual test conditions,the field-test results show that the method is practicable; the adaptability for the environment and the control precision can meet the design requirements.
The strap-down inertial navigation system with rotation-modulation has raised a higher requirement for the precision of position transformation system; and aiming at this requirement and based on the DC( direct current) torque motor,a position transformation system and a control method are proposed. The revolving transformer to measure the angle and the DC torque motor to drive the position transformation system are used to study the position-velocity-current PID( proportion integration differentiation) control loop. The feed-forward control method and saturation correction algorithm are proposed to realize the high accuracy of the position control for the transformation system. The Simulink numerical simulation results show that the control method is effective and the control precision can satisfy the design specification requirement. Under actual test conditions,the field-test results show that the method is practicable; the adaptability for the environment and the control precision can meet the design requirements.
引文
[1]LEVINSON E,MAJURE R.Accuracy Enhancement Techniques Applied to the Marine Ring Laser Inertial Navigator(MARLIN)[J].Journal of the Institute of Navigation,1987,34(1):64-86.
[2]刘芳,王玮,张仲毅.用于旋转调制捷联惯导系统的旋转控制方法[J].电机与控制学报,2012,16(11):17-21.LIU Fang,WANG Wei,ZHANG Zhong-yi.Motor Rotation Control Method for Rotation-Modulation SINS[J].Electric Machines and Control,2012,16(11):17-21.
[3]张兴凡,周金亮,左志丹.基于变结构控制的旋转调制激光惯导伺服控制系统设计[J].光学与光电技术,2016,14(3):101-104.ZHANG Xing-fan,ZHOU Jin-liang,ZUO Zhi-dan.Rotating Laser Gyro Inertial Navigation System's Servo Control System Design Based on Sliding Mode Variable Structure Control Theory[J].Optics&Optoelectronic Technology,2016,14(3):101-104.
[4]Sanjeev Arulampalam M,Simon Maskell,Neil Gordon,et al.A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking[J].IEEE Transactions On Signal Processing,2002,50(2):174-188.
[5]刘建,王玮.旋转型惯导系统自标定中的电机控制[J].自动化与仪表,2013(10):1-4.LIU Jian,WANG Wei.Motor Control of Self-Calibration of Rotation Inertial Navigation System[J].Automation&Instrumentation,2013(10):1-4.
[6]Bouhouche Salah,Lahreche Malek,Bast Jürgen.Control of Heat Transfer in Continuous Casting Process Using Neural Networks[J].Acta Automatica Sinica,2008,34(6):701-706.
[7]Servet Soyguder,Mehmet Karakose,Hasan Alli.Design and Simulation of Self-Tuning PID-Type Fuzzy Adaptive Control for an Expert HVAC System[J].Expert Systems with Applications,2009,36(3):4556-4573.
[8]梁中华,王鑫,任敏,等.一种改进的神经元PID自适应控制[J].沈阳工业大学学报,2003,25(5):417-419.LIANG Zhong-hua,WANG Xin,REN Min,et al.An Improved Neuron PID Adaptive Control[J].Journal of Shenyang University of Technology,2003,25(5):417-419.
[9]卢泽生,张强.高精度交流伺服系统的模糊PID双模控制[J].北京航空航天大学学报,2007,33(3):315-318.LU Ze-sheng,ZHANG Qiang.Fuzzy-PID Double Mode Control of Ultra-Precision AC Servo System[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(3):315-318.
[10]邹文栋,魏永强,纪海燕.基于Fuzzy-PID的PZT微纳扫描控制算法[J].仪器仪表学报,2009,30(5):932-937.ZOU Wen-dong,WEI Yong-qiang,JI Hai-yan.Fuzzy-PID Control Algorithm for PZT Micro/Nano Scanner[J].Chinese Journal of Scientific instrument,2009,30(5):932-937.
[11]袁保伦,陆煜明,饶谷音.基于AD2S82A的多通道测角系统及与DSP的接口设计[J].仪表技术与传感器,2007(3):54-55.YUAN Bao-lun,LU Yu-ming,RAO Gu-yin.Multi Channel Angle Measuring System Based on AD2S82A and It’s Interface Circult Design with DSP[J].Instrument Technique and Sensor,2007(3):54-55.
[12]陈亮,王秋瑶.双通道旋转变压器解码系统设计[J].光电技术应用,2016,31(3):50-53.CHEN Liang,WANG Qiu-yao.Decoder System Design of Double Entry Revolving Transformer[J].Electro-Optic Technology Application,2016,31(3):50-53.
[13]陈佳明,张明照,戚红雨,等.应用MATLAB建模与仿真[M].北京:科学出版社,2001.CHEN Jia-ming,ZHANG Ming-zhao,QI Hong-yu,et al.Application of MATLAB Modeling and Simulation[M].Beijing:Science Press,2001.
[14]Fredrik Gustafsson,Fredrik Gunnarsson,Niclas Bergman,et al.Particle Filters for Positioning,Navigation and Tracking[J].IEEE Transaction on Signal Processing.Special Issue on Monte Carlo Methods for Statistical Signal Processing,2002,50(2):425-437.
[15]Robert J Elliott,Simon Haykin.A New Nonlinear Filter[J].Communications in Information and Systems,2006,6(3):203-220.
[2]刘芳,王玮,张仲毅.用于旋转调制捷联惯导系统的旋转控制方法[J].电机与控制学报,2012,16(11):17-21.LIU Fang,WANG Wei,ZHANG Zhong-yi.Motor Rotation Control Method for Rotation-Modulation SINS[J].Electric Machines and Control,2012,16(11):17-21.
[3]张兴凡,周金亮,左志丹.基于变结构控制的旋转调制激光惯导伺服控制系统设计[J].光学与光电技术,2016,14(3):101-104.ZHANG Xing-fan,ZHOU Jin-liang,ZUO Zhi-dan.Rotating Laser Gyro Inertial Navigation System's Servo Control System Design Based on Sliding Mode Variable Structure Control Theory[J].Optics&Optoelectronic Technology,2016,14(3):101-104.
[4]Sanjeev Arulampalam M,Simon Maskell,Neil Gordon,et al.A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking[J].IEEE Transactions On Signal Processing,2002,50(2):174-188.
[5]刘建,王玮.旋转型惯导系统自标定中的电机控制[J].自动化与仪表,2013(10):1-4.LIU Jian,WANG Wei.Motor Control of Self-Calibration of Rotation Inertial Navigation System[J].Automation&Instrumentation,2013(10):1-4.
[6]Bouhouche Salah,Lahreche Malek,Bast Jürgen.Control of Heat Transfer in Continuous Casting Process Using Neural Networks[J].Acta Automatica Sinica,2008,34(6):701-706.
[7]Servet Soyguder,Mehmet Karakose,Hasan Alli.Design and Simulation of Self-Tuning PID-Type Fuzzy Adaptive Control for an Expert HVAC System[J].Expert Systems with Applications,2009,36(3):4556-4573.
[8]梁中华,王鑫,任敏,等.一种改进的神经元PID自适应控制[J].沈阳工业大学学报,2003,25(5):417-419.LIANG Zhong-hua,WANG Xin,REN Min,et al.An Improved Neuron PID Adaptive Control[J].Journal of Shenyang University of Technology,2003,25(5):417-419.
[9]卢泽生,张强.高精度交流伺服系统的模糊PID双模控制[J].北京航空航天大学学报,2007,33(3):315-318.LU Ze-sheng,ZHANG Qiang.Fuzzy-PID Double Mode Control of Ultra-Precision AC Servo System[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(3):315-318.
[10]邹文栋,魏永强,纪海燕.基于Fuzzy-PID的PZT微纳扫描控制算法[J].仪器仪表学报,2009,30(5):932-937.ZOU Wen-dong,WEI Yong-qiang,JI Hai-yan.Fuzzy-PID Control Algorithm for PZT Micro/Nano Scanner[J].Chinese Journal of Scientific instrument,2009,30(5):932-937.
[11]袁保伦,陆煜明,饶谷音.基于AD2S82A的多通道测角系统及与DSP的接口设计[J].仪表技术与传感器,2007(3):54-55.YUAN Bao-lun,LU Yu-ming,RAO Gu-yin.Multi Channel Angle Measuring System Based on AD2S82A and It’s Interface Circult Design with DSP[J].Instrument Technique and Sensor,2007(3):54-55.
[12]陈亮,王秋瑶.双通道旋转变压器解码系统设计[J].光电技术应用,2016,31(3):50-53.CHEN Liang,WANG Qiu-yao.Decoder System Design of Double Entry Revolving Transformer[J].Electro-Optic Technology Application,2016,31(3):50-53.
[13]陈佳明,张明照,戚红雨,等.应用MATLAB建模与仿真[M].北京:科学出版社,2001.CHEN Jia-ming,ZHANG Ming-zhao,QI Hong-yu,et al.Application of MATLAB Modeling and Simulation[M].Beijing:Science Press,2001.
[14]Fredrik Gustafsson,Fredrik Gunnarsson,Niclas Bergman,et al.Particle Filters for Positioning,Navigation and Tracking[J].IEEE Transaction on Signal Processing.Special Issue on Monte Carlo Methods for Statistical Signal Processing,2002,50(2):425-437.
[15]Robert J Elliott,Simon Haykin.A New Nonlinear Filter[J].Communications in Information and Systems,2006,6(3):203-220.