Model and control for inner loop of electro-optical tracking servo system
Model and control for inner loop of electro-optical tracking servo system
复制标题
DOI：
10.1109/icma.2014.6885850
复制
发表时间：
2014-08
期刊：
影响因子：
--
通讯作者：
Xuefu Xiang;Wencai Li;Qihui Liu;Jianfeng Xu;Yongyi Ma
中科院分区：
文献类型：
--
作者：
Xuefu Xiang;Wencai Li;Qihui Liu;Jianfeng Xu;Yongyi Ma
由电流环和速度环组成的光电跟踪伺服系统内环的优劣直接决定了系统的性能。为了提高具有大惯性负载和非线性摩擦的EOT系统的性能，需要在频域中建立内回路的数学模型，并整定调节器的参数，使内回路调节到期望的模型。提出了一种基于MATLAB的用系统的输入输出数据绘制系统BODE图的算法。介绍了在频域中绘制BODE曲线渐近线，建立数学模型的建模方法。它能避免非线性摩擦，能较好地刻画系统的主要特性。在分析了系统的主要数学模型的基础上，提出了一种新的调节器参数整定方法。该方法的原理是根据频率响应的一致性，建立期望模型，建立求解调节器参数的方程。实验结果表明，该建模方法具有一定的实用性，采用该方法整定的调节器参数能够改善内环的性能。
The merit of inner loop of electro-optical tracking (EOT) servo system which consists of the current loop and the velocity loop direct determines the performance of EOT system. For improving the performance of EOT system with large inertia load and nonlinear friction, it is necessary to establish the mathematics model of inner loop in frequency domain and tune the parameters of the regulator to regulate the inner loop as desired model. An algorithm based on MATLAB plot the BODE diagraph of system with input/output data of system is proposed in this paper. The modeling approach that plots the asymptote for BODE diagraph and establishes the mathematics model in frequency domain is introduced. It can avoid the nonlinear friction and depict the main characteristic of system. On the basis of the mainly mathematics model in frequency domain, a novel method to tune the parameters of the regulator is presented. The principle of method is to set up the desired model and establish the equation to solve the parameters of regulator based on the consistency of frequency response. The experiment result shows that the modeling approach has some practicability and the regulator with parameters tuned by the novel method can improve the performance of the inner loop.