电动缸伺服系统中误差平方根控制

针对电动缸带来的速比非线性导致系统快速性和精度之间难以匹配的问题,建立了火炮身管的运动学模型和动力学模型,提出了一种变系数误差平方根和带前馈的比例积分微分(proportion integration differentiation,PID)分段控制策略,利用火炮身管的运动学模型和根据动力学模型拟合的加速度计算误差平方根控制系数,应用于系统的位置控制器设计.利用实际负载进行了台架实验研究,并与传统的误差平方根和带前馈的PID分段控制策略进行了对比.台架实验结果表明:该种变系数误差平方根和带前馈的PID分段控制策略可以明显减小火炮俯仰伺服系统的大调转时间和超调量,且不影响等速和正弦跟踪精度,具有一定的工程应用价值.

Research on Square Root Control in Electric Cylinder Servo System

Aiming at the problem that the speed ratio nonlinearity caused by the electric cylinder makes it difficult to match the rapidity and precision of the servo system, the kinematics and dynamics models of the gun barrel are established, a Variable Coefficient Error Square Root and PID with feedforward subsection control strategy is proposed. The control coefficient of Variable Coefficient Error Square Root is calculated by using the kinematics model of gun barrel and the acceleration fitting according to the dynamics model. The control method is applied to the position controller design of servo system. The bench test is carried out with actual load, and the results are compared with the traditional Error Square Root and PID with feedforward subsection control strategy. The results of bench test show that compared with the traditional Error Square Root and PID with feedforward subsection control strategy, the Variable Coefficient Error Square Root and PID with feedforward subsection control strategy can obviously reduce the large turning time and overshoot of the gun pitching servo system, and does not affect the constant speed and sine tracking precision, it has certain engineering application value.