光电系统跟踪精度工程可实现性判断方法
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摘要
阐述了一种简化的、可以通过数学解析求解的判断方法,用于判断光电系统跟踪精度的工程可实现性。本文的判断方法是一种必要性判断,利用跟踪系统闭环带宽的可实现性来评估系统跟踪精度的可实现性,充分性还依赖于其他条件,如电机的选取等。本文以切向匀速直线运动(变角加速度运动)目标为例分析目标的运动特性;以直流有刷力矩电机速度环位置环双闭环系统为例、以经典控制理论为基础,简化模型以分析求解跟踪所需带宽;最后对未简化的模型进行仿真,以验证简化模型的计算精度。
A simplified judgment method,which can be solved by mathematical analysis,is described for judging the engineering realizability of the tracking accuracy of photoelectric system in the paper.The judgment method in this paper is a necessity judgment,which uses the closed-loop bandwidth of the tracking system to evaluate the realizability of the tracking accuracy of the system.The sufficiency also depends on other conditions,such as the selection of motor.This paper takes tangentially uniform linear motion(variable angular acceleration) as an example to analyze the motion characteristics of the target,takes the double closed-loop system of speed loop and position loop of DC brushless torque motor as an example,and based on classical control theory,simplifies the model to analyze and solve the bandwidth required for tracking.at last,the simplified model is simulated to verify the calculation accuracy of the simplified model.
A simplified judgment method,which can be solved by mathematical analysis,is described for judging the engineering realizability of the tracking accuracy of photoelectric system in the paper.The judgment method in this paper is a necessity judgment,which uses the closed-loop bandwidth of the tracking system to evaluate the realizability of the tracking accuracy of the system.The sufficiency also depends on other conditions,such as the selection of motor.This paper takes tangentially uniform linear motion(variable angular acceleration) as an example to analyze the motion characteristics of the target,takes the double closed-loop system of speed loop and position loop of DC brushless torque motor as an example,and based on classical control theory,simplifies the model to analyze and solve the bandwidth required for tracking.at last,the simplified model is simulated to verify the calculation accuracy of the simplified model.
引文
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[2] LIU Jiaoyue,YANG Juqing,DONG Dengfeng.Design of photoelectric tracking servo control system for laser tracker[J].Research and Exploration in Laboratory,2015,34(8):64-67.(in Chinese)刘娇月,杨聚庆,董登峰.激光跟踪仪光电跟踪伺服控制系统设计[J].实验室研究与探索,2015,34(8):64-67.
[3] XU Bo,LI Zhengming,YIN Chunfang.The servo control system of the precision turntable[J].Techniques of Automation and Applications,2004,23(10);16-18.(in Chinese)许波,李正明,殷春芳.精密转台伺服控制系统的研究[J].自动化技术与应用,2004,23(10);16-18.
[4] GE Yinan,TANG Yiqian,YU Xiaohong,et al.Principle of automatic control[M].Beijing:Tsinghua University Press,2016.(in Chinese)葛一楠,唐毅谦,喻晓红,等.自动控制原理[M].北京:清华大学出版社,2016.
[5] ZOU Bomin.Automatic control theory[M].Beijing:China Machine Press,2007.(in Chinese)邹伯敏.自动控制理论[M].北京:机械工业出版社,2007.
[6] ZHANG Defeng,YANG Wenyin.MATLAB simulation technology and application[M].Beijing:Tsinghua University Press,2012.(in Chinese)张德丰,杨文茵.MATLAB仿真技术与应用[M].北京:清华大学出版社,2012.