【作者】 杨静；

【导师】 李叶松；

【作者基本信息】 华中科技大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 天线伺服系统是雷达以及其他跟踪设备的重要组成部分,它驱动雷达转台使其按照给定指令运动,从而实现雷达的定位、测角等功能。由于雷达转台负载往往较大,且传动链中存在齿隙等非线性因素的影响,为了实现高精度、高速度且稳定性好的的天线伺服控制,常采用双轴联动驱动的方式。本文对这种采用双轴结构伺服系统的同步控制及消隙方法进行了研究。首先对齿隙和同步问题以及相关技术的研究现状进行了概要的介绍,描述了典型天线伺服系统的控制模型结构,详细讨论了双轴联动消除齿隙和同步控制的理论方法;然后利用MATLAB/SIMULINK分别建立了交流伺服系统仿真模型、含齿隙非线性因素的齿轮传动环节仿真模型以及消隙功能模块的仿真模型;分别验证了同步和消隙方法的正确性、有效性,同时也提出了两种方法的综合控制问题,设计了一种耦合性质的综合控制策略,并且仿真验证了这种综合控制策略的可行性,为实际应用提供设计依据;最后在双轴交流伺服驱动器平台上设计实现了同步控制及消隙控制方法。本文所探讨的双轴伺服驱动建模方法、消隙与同步控制策略以及软件设计方法具有较好的通用性、实时性,可用于不同型号的双轴雷达伺服平台,也可应用于工业领域的双轴驱动应用场合。更多还原

【Abstract】 Antenna servo system is an important device in radar and other tracking equipments, which rotates the radar platform to track the given commands and implement the functions of the radar system such as location and angle measurement. In some practice, dual-axis servo system needs to be generally used for antenna driving system to achieve high precision, high speed and high stability. Considering that the radar rotating platform always have heavy load, and also there are nonlinear factors exist in the transmission chain, the theory and technology of synchronous control and anti-backlash based on the dual-axis servo system has been researched in this thesis.The application problem and introduced recent research status of the backlash nonlinearity and synchronization problem has been described in this thesis, including the typical control model of the antenna servo system, and then the principles of anti-backlash and synchronous control based on dual-axis servo system has been analyzed in detail. Then the models of AC PMSM servo system, gear transmission system with backlash nonlinearity and the function module of anti-backlash were respectively set-up in Matlab/Simulink environment. The simulation results verified the validity of anti-backlash and synchronous control strategies based on dual-axis system. Meanwhile, the problem on how to integrate the two kinds of control was considered and a coupled integrative control was designed and simulated to approve the feasibility to supply a good direction for the practice. In the end, the software modules of anti-backlash and synchronous control method were designed on the dual-axis ac servo platform.The method building the dual-axis servo system simulation model, the algorithm of anti-backlash and synchronous control, the procedure of software could be general used in different types of dual-axis radar servo platform. In the same time, they could be considered in dual-axis servo driving application in industry.更多还原