摘要
舵机的性能对弹体的控制精度产生决定性影响,而受到制造工艺、安装误差等结构因素以及控制算法的影响,导致舵机控制产生延迟误差,影响弹道修正的精度。利用半实物仿真的方法对舵机延迟误差进行分析,从方法误差和结构误差两个方面对延迟误差的影响因素进行阐述,对算法误差、惯性偏差、间隙误差、摩擦等因素的影响机理进行分析;以影响因素为出发点,提出以超前控制补偿角和结构性延迟补偿角对延迟误差进行补偿。通过半实物仿真试验验证,舵机能够很好地跟随控制指令,取得良好的补偿效果,改善控制精度,为下一步的工程应用提供技术支持。
The performance of electromechanical actuator has a critical influence on the projectile control precision. The control delay error due to the influence of structural factors and algorithm such as manufacturing process and installation error makes ballistic correction precision lower. The paper analyzed the actuator action delay with hardware in the loop simulation, elaborated the influence factors of delay error in aspects: method error and the structural error,which include the algorithm error, inertial deviation, gap and friction. Based on the influence factors, the leading control compensation angle and structural delay compensation angle were provided to compensate the delay errors. Based on the hardware in the loop simulation, the actuator can execute control command well and the compensating effect is good and the precision is also improved, which can provide technology support for the next engineering application.
出处
《中国测试》
北大核心
2017年第5期127-131,共5页
China Measurement & Test
基金
中国博士后科学基金(2013M542454)
十二五装备预先研究项目(9140A05040114JB34015)
关键词
舵机控制
延迟误差
半实物仿真
超前控制补偿
结构性延迟补偿
actuator control
delay error
hardware in the loop simulation
leading control compensation
structural delay compensation
