摘要
为了提高天地景投影伺服系统的性能指标 ,对伺服系统的多模态控制算法进行了改进 .根据调转角度的大小分别进行三模态控制 :大角度调转时 ,用带补偿的饱和 +开方 +带前馈的 PID三模态控制 ;小角度调转时用反向开方代替饱和控制的三模态控制 .采用新算法后 ,在保证无超调、无抖动的前提下 ,系统作 - 90°～ 90°调转的时间从原来的 0 .6 s缩短为 0 .2 s,最大位置误差小于 0 .5 m
In order to improve the performance of a servo system for background projection system, its multi mode control algorithm is modified. A different tri mode control algorithm is adopted according to different angles of rotation of the system. That is, a tri mode rule which includes the saturation control, the square root control, the PID control+feed forward control and certain position offset is used for large angles. When the angle is small, the saturation control is replaced by the reverse square root control. Using this algorithm, the time spent for the system on rotating from -90° to 90°, which used to be 0 6 s, has been shortened to 0 2 s, and the maximum position error of the system made less than 0 5 mrad at the premise of non overshoot and no vibration.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2002年第3期351-354,共4页
Transactions of Beijing Institute of Technology
基金
国防预项项目
关键词
飞行仿真
伺服系统
控制算法
flight simulation
servo system
control algorithm
