文献翻译—二轴转台控制系统设计

附录1转台广泛应用十航空、航天、兵器、航海等领域，有各种不同的类型和用途。

本文所研究的二轴转台与可见光目标模拟器一起构成可见光目标模拟检测系统，用以完成导引头装前测试。

可见光目标模拟器模拟产生电视导引头在测试和试验过程中所需的各种目标，由二轴转台带动目标模拟器形成满足导引头要求的图像视场及目标运动特性，作为导引头测试的模拟目标。

可见，二轴转台控制系统设计的优劣对能否成功地完成导引头的性能测试和检验有重要的影响。

1.1转台控制算法概述本文所研究的二轴转台，包括方位轴和俯仰轴，每一轴的控制通常采用双闭环控制结构，即由内到外依次是速度环和位置环。

速度环的作用是提高系统的刚度来抑制系统的非线性及外部扰动，控制系统的精度由位置环来保证。

从控制律的类型来看，速度环通常采用pi控制，采用模拟方式实现。

种类繁多的控制算法多数在位置环实现。

其是转台控制系统的核心，是影响转台控制系统性能的关键因素。

从模拟控制系统开始，到数模混合控制系统及计算机控制系统的长期发展过程中，形成了许多行之有效的控制方法。

从它们的发展过程和应用特点出发，大体可分为二类:传统控制策略，现代控制策略和智能控制策略人工神经网络是人工智能的一个主要分支。

它是一些科学家从模仿人脑神经细胞的组成、结构及工作机理出发，提出的一套思想方法。

其目的在于研究一种新的理论，实现一种新的系统使之能够完成人脑的功能[[12,13]。

尽管在理论和应用方面还存在很多不足之处，但它的出现却给遇到挑战的自动控制带来了新的生机和曙光。

1.2模糊控制的发展从1965年美国著名控制论学者L. A. Zadeh发表开创性论文，首次提出一种完全不同十传统数学与控制理论的模糊集合理论以来，模糊集和模糊逻辑理论迅速发展，形成了一门完善的数学理论。

1974年E. H. Mamdani首次将模糊控制理论应用十蒸气机及锅炉的控制，取得了优十常规调节器的控制品质，从此，模糊控制诞生了。

模糊控制理论和技术变成智能控制领域最活跃的学科之一，受到广泛地重视和发展，并取得了有目共睹的成就。

随着现代工业的发展，控制对象的非线性和不确定性增强，使得现代控制的数学建模困难，控制效果不佳，甚至无能为力，使传统的控制理论面临严峻的考验，模糊控制理论的崛起为这些问题的解决开辟了新的途径，尤其在现代伺服系统中。

在现代伺服系统中，被控对象通常具有非线性、时变以及种类繁多的干扰，使得常规控制方法无法获得满意的控制效果。

模糊控制是传统控制发展的高级阶段，模糊控制具有不依赖十系统模型、学习过程短、良好的实时性，并具有自适应能力和自学习强的特点。

从学术角度来看，采用模糊控制方法实现对伺服系统的精确控制，具有一定的学术价值;从工程角度来看，将模糊控制方法应用到伺服系统中，为伺服系统控制器的设计提供了一种新的思路和方法，为研制高性能的、多功能的伺服系统开辟了一条道路，预示着模糊算法在伺服系统中必定有着广阔的应用前景。

转台是一个复杂的机电系统，本身存在着许多不利十控制系统设计的因素，并不是通过简单的线性模型就可以完整、准确的描述。

作为转台控制系统的设训一者，一方面要对转台控制系统中的种种不利影响有着清醒的认识，在控制系统设计中尽量削弱其对控制器的影响;另一方面要考虑研究和采用更为先进的控制方案。

在这种情况下，模糊控制理论在转台上的应用进行研究和实验就有其实际的工程意义和切实的理论背景。

1.3驱动元件的确定目前，转台的驱动方式基本上都采用直接驱动方式，驱动组件主要由两大类:即电动机或液压马达驱动。

转台则可以根据其所采用的驱动组件分为二类:一类是所有框架均由电动机驱动，称为电动转台;另一类是所有框架均由液压马达驱动，称为液压转台;还有一类是各框架分别采用不同的驱动组件，例如，内框架由电动机驱动，中、外框架利用液压马达驱动，称为复合驱动转。

由于液压马达存在驱动转角范围小，配套设备复杂，维护困难，危险性大等缺点，因此，在指标允许的情况下转台大多采用电动机直接驱动。

与液压马达相比，电动机具有可连续回转、安装方便、使用及维护简单等优势。

针对现有的直流力矩电机存在的最高转速小、力矩波动大、电刷引起的火花干扰、摩擦力矩及电刷维护等诸多问题，交流永磁同步电机逐渐被使用到转台驱动中。

电动机驱动是转台驱动组件的发展趋势。

为了满足整个伺服系统工作性能指标的要求，必须对系统的相关部件进行精心的选择，使由它们所组成的整个系统能够合理地运行。

系统中比较重要的部件包括有伺服电机，减速器和位置检测组件，下面具体对相应的部件进行选择。

1.4电机的选择转台执行电机的选择除要满足功率要求外，还要考虑以下要求:(1)灵活方便的位置控制，定位准确精度高;(2)可靠性好;(3)方便计算机控制;(4)响应快，换向性能好;(5)能长时间连续工作不需要维护。

常用的伺服电机有二类:直流伺服电机，交流伺服电机，步进电机。

1.5转台控制系统设计转台控制系统设计为包括速度环和位置环的双环控制结构设计，双环控制系统的一般原则:首先，在对系统性能指标进行分析时，根据系统的性能指标和外环对内环的设计要求，从外环到内环逐步确定各环的性能指标要求;然后，在进行系统各环控制器设计时，从内环开始，根据系统对每一环的性能要求和环路固有特性，设计各个环路的控制器。

设计过程为，从内环开始，一环一环地逐步向外扩展，在对任一环进行设计时，为简化设计，其内环可以适当简化为较为简单的形式。

在这里，首先设计速度环，然后设计位置环，在设计位置环时，为了简化位置环的设计，将速度环闭环传递函数简化为惯性环节;最后根据位置反馈设计结果设计位置环控制器。

根据系统带宽要求，俯仰轴控制系统位置环带宽要求为不大。

根据系统数字仿真研究的结果和以往工程设计经验，在台体谐振频率足够高、电机驱动能力充分的情况下，位置加控制装置校正后的系统的跟踪带宽与无控制器校正时的系统的带宽的一半相当，也就是说，若无控制器的位置系统的频带宽度，那么加入控制器后，系统的跟踪带宽可以达到。

按照上述进行考虑，将俯仰轴位置环的最大带宽设计大约为63rad/s(6.28 rad/s )。

一般情况下闭环系统带宽约为系统开环截止频率的1.5倍，由此可选择位置环开环截止频率最大为42rad/s。

为减少速度回路对位置回路的影响，将速度环的开环截止频率确定为位置环反馈系统开环截止频率的3倍，因此选择速度环开环截止频率最大为126rad/s。

1.6 Pm控制经典Pm控制是最早发展起来的，同时又是最成熟的控制策略之一。

由其算法简单、鲁棒性好和可靠性高，所以被广泛应用十各类伺服系统和工作过程控制系统，尤其适用十可建立精确数学模型,参数定常的确定型系统。

实际工业生产过程往往具有非线性、时变性和不确定性，系统的参数是时变的和非线性的，应用常规Pm控制则难以达到理想的效果;在实际生产过程中，由受到参数整定方法复杂和难以实现的困扰，常规Pm控制器的参数往往整定不良、性能欠佳，对工业生产过程中的适应性较差。

长期以来，人们一直在寻求Pm控制器参数的自动整定技术，以适应复杂的工业现场和高性能指标的要求。

随着微处理器技术的发展和数字智能式控制的实际应用，Pm控制器参数自整定方法的实现终十可以变成现实。

同时，随着现代控制理论(诸如智能控制、自适应模糊控制和神经网络技术等)研究和应用的发展和深入，出现了许多新型Pm控制方法，如瑞典著名学者K. J.Astrom等人推出的智能型P}自适应控制器，其控制效果远远超过了其控制。

模糊控制就是近年来应运}fu生并逐步发展起来的一种新型的智能控制方法，它将模糊控制和控制两者结合起来，既具有模糊控制灵活适应性强的优点，又具有控制精度高和易十实现的特点。

复合型控制器，无论对复杂控制系统还是高精度伺服系统都具有良好的控制效果。

附录2Turntable is used widely in ten areas such as aviation, aerospace, weapons, navigation, there are a variety of different types and USES.In this paper, the author studies on two axis turntable and the optical target simulator together form visible target detection system, in order to complete the seeker before testing.Optical target simulator simulation TV seeker in the process of testing and test various targets, formed by two axis turntable driven target simulator to meet the requirements of the seeker image field and target motion features, as a seeker simulation testing goals.Visible, the merits of the two axis turntable control system design of can successfully perform the seeker had great effects on the performance test and inspection.1.1 overview of turntable control algorithmThis paper studies two axis turntable, including azimuth axis and longitudinal axis, control of each axis is usually adopts double closed-loop control structure, namely, from the inside out, in turn, is the speed loop and position loop.The effect of speed loop is to improve the system of nonlinear stiffness to suppress system and external disturbance, the precision of the control system is guaranteed by position loop.From the perspective of the type of control law, the speed loop PI control, usually adopts the simulation.A wide variety of control algorithm is most realized in position loop.It is the core of the turntable control system, is the key factors influencing the turntable control system performance.Starting from analog control system, to the d/a mixed control system and computer control system in the process of long-term development, has formed many effective control method.From their development process and application characteristics, can be divided into two categories: the traditional control strategy, modern control strategy and intelligent control strategy of artificial neural network is a main branch of artificial intelligence.It is some scientists from the imitation of human brain cells composition, structure and working mechanism, puts forward a thought method.Its aim is to study a new theory, a new system to complete the function of the human brain [[12, 13]. In spite of there are many deficiencies in theory and application, but it appears to the automatic control of challenges brought new vitality and dawn.1.2 the d evelopment of fuzzy controlCybernetics is A famous scholar from the United States in 1965, l. a. Zadeh pioneering papers published, first proposed A completely different ten traditional mathematics and control theory of the fuzzy set theory, fuzzy sets and fuzzy logic theory rapid development, has formed A perfect mathematical theory.1974 e. h. Mamdani fuzzy control theory is first used steam machine and boiler control, theoptimal ten routine regulator to control the quality, since then, the fuzzy control was born.Fuzzy control theory and technology, one of the most active subjects into intelligent control field widely attention and development, and has obtained the obvious achievement.With the development of modern industry, enhance the controlled object of nonlinear and uncertainty, makes the mathematical modeling of modern control difficulty, control the effect not beautiful, even helpless, make traditional control theory faces the severe test, the rise of the fuzzy control theory has opened up a new way for the solution of these problems, especially in the modern servo system.In modern servo system, the controlled object is usually with nonlinear, time-varying and a wide variety of interference, the conventional control methods cannot obtain satisfactory control effect.Fuzzy control is advanced stage in the development of the traditional control, fuzzy control with ten system model does not rely on, short learning process and good real-time performance, and has the characteristics of strong adaptive ability and self learning.From the academic point of view, fuzzy control method was adopted to realize accurate control of the servo system, have certain academic value;From engineering point of view, the method of fuzzy control is applied to the servo system, for the design of the servo system controller provides a new train of thought and method, to develop high performance, multi-function of servo system has opened up a road, heralding the fuzzy algorithm in the servo system must have a broad application prospect.Turntable is a complex electromechanical system, itself has many unfavorable factor 10 control system design, not through the simple linear model can be complete and accurate description.As a set of training person of the turntable control system, on the one hand, to a variety of adverse effects of turntable control system has a clear understanding, in the control system design to weaken its effect on the controller;On the other hand to consider research and adopt more advanced control schemes.In this case, the application of fuzzy control theory on the turntable research and experimentation has its practical significance and practical engineering theory background.1.3 d etermination of driving elementAt present, the rotary table drive mode basically all use direct drive mode, drive component is mainly composed of two broad categories: namely motor or hydraulic motor drive.Turntable can be adopted according to its drive components are divided into two categories: one kind is all frameworks are driven by electric motor, is called electric turntable;Another kind is all frameworks are driven by hydraulic motor, called hydraulic turntable;There is a separate framework is driven by different components, for example, within the framework, driven by a motor and outer frame using hydraulic motor drive, known as the compound drive.Because hydraulic motor drive small Angle range, form a complete set of equipment complex, difficult maintenance, danger, such as faults, therefore, in the case of indicators allow turntable is mostly driven by motor pared with the hydraulic motor, the motor can be continuous rotary, easy installation, use and maintenance the advantages of the simple.Aiming at the existence of the existing dc torque motor in high speed and large torque fluctuation, spark interference caused by brush, friction torque and brush maintenance problems, such as ac permanent magnet synchronous motor is used to drive.The development trend of motor drive turntable is drive components.In order to meet the requirements of the servo system performance index, must to careful choice of system of related components, make of their whole system can run reasonably.In the system of the more important parts include the servo motor, reducer and position detection components, the following specific to choose the corresponding parts.1.4 the choice of the machineTurntable actuating motor choice except to meet the power requirements, consider the following requirements:(1) the position control of the flexible and convenient, accurate, with high precision;(2) good reliability;(3) the convenient computer control;(4) fast response, good commutating performance;(5) can work continuously for a long time do not need to maintain.Commonly used servo motor has two categories: dc servo motor, ac servo motor, stepping motor.1.5 turntable control system d esignTurntable control system is designed to include the speed loop and position loop of the double loop control structure is designed, the general principles of the double loop control system: first, the analysis of system performance index, according to the performance of the system design requirements for inner ring and outer ring, the ring was established gradually from the outer to the inner ring of the performance index requirements;Then, in the for each loop controller system design, starting from the inner ring, based on the system performance requirements for each ring and loop inherent characteristics, design of each loop controller.For design process, starting from the inner ring, a ring a ring to gradually expand outward, on Ren Yihuan design, to simplify the design, the inner ring can be simplified to simpler forms.Here, the first design speed loop, position loop, and design in the design of the position loop, in order to simplify the design of the position loop, the speed loop is simplified to inertial link closed-loop transfer function;The position loop controller is designed according to the results of the position feedback design.Basedon the system bandwidth requirements, pitch axis control system for small position loop bandwidth requirements.Based on the system of digital simulation results and engineering experience, the resonance frequency is high enough, motors drive capacity under the condition of fully, location and control device after correction of the bandwidth of tracking system and no controller half the bandwidth of the correction of the system, that is to say, without the band width of the controller is the location of the system, then join controller, system of tracking bandwidth can be achieved.According to the above, considering the biggest bandwidth will pitch axis position loop design is about 63 rad/s (6.28 rad/s).Normally closed-loop system bandwidth is about 1.5 times that of the open loop cut-off frequency, the optional position loop open loop cut-off frequency up to 42 rad/s.In order to reduce the influence of speed loop of position loop, speed loop of the open loop cut-off frequency as the position loop feedback system open loop 3 times of cut-off frequency, thus choose speed ring open loop cut-off frequency 126 rad/s.1.6 Pm controlClassic Pm control is first developed, at the same time is also one of the most sophisticated control strategy.By the method is simple and good robustness and high reliability, so widely used ten kinds of servo system and the working process of the control system, especially for ten to establish accurate mathematical model, parameter time-invariant system is.Actual industrial production process, often with nonlinear, time-varying and uncertainty of the system is time-varying and nonlinear parameters, application of the conventional Pm control is difficult to achieve the ideal effect;In actual production process, by a parameter setting method of complex and difficult to implement, conventional Pm controller parameter setting often bad, performance is poor, the poor adaptability in the process of industrial production. For a long time, people have been looking for Pm controller parameters can be automatically setting technology, to adapt to the complex industrial field and the requirements of high performance index.With the development of the microprocessor technology and practical application of digital intelligent control, Pm controller parameters self-tuning method the implementation of the ten can become a reality.At the same time, along with modern control theory, such as intelligent control, adaptive fuzzy control and neural network technology, etc.) and further research and application of development, appeared many new Pm control methods, such as Sweden famous scholar k. J.A storms and others launched intelligent P} adaptive controller, the control effects far beyond its control.Fuzzy control is times} fu was born in recent years and gradually developed a kind of new intelligent control method, which combines both fuzzy control and control, fuzzy control has the advantages of flexible and adaptable, and has thecharacteristics of high control precision and ten pound controller, for both the complex control system and high precision servo system has good control effect.。