Tracking Characteristics Analysis and Compensation Strategy Research on a Certain Type of Ball-socket Nozzle Servo System
In order to improve the tracking accuracy of the swing angle of a certain type of ball-socket nozzle,the tracking characteristics of the ball-socked nozzle are analyzed,and the compensation strategy is investigated.The ball-socked nozzle servo system is equivalent to a dual inertia system,a coupling model containing the servo system and the ball-socket nozzle is established,and the LuGre friction model is introduced to describe the friction torque.The effects of system connection stiffness and friction on the tracking characteristics of the ball-socked nozzle are analyzed with the simulation analysis method.A composite control strategy with friction feedforward and stiffness compensation is proposed to suppress the friction torque while ensuring the output accuracy of the nozzle under high dynamic conditions.A simulation model for the ball-socked nozzle servo system is established,and the effectiveness of the algorithm is verified.The simulation results show that friction compensation can suppress the waveform distortion of the ball-socked nozzle system at low speed and improve the tracking performance of the ball-socked nozzle at low speed.In addition,the frequency characteristics of the nozzle at medium and high frequencies are close to the true characteristics of the servo mechanism after the introduction of stiffness compensation,indicating that the dynamic tracking performance is improved.
万方数据
维普
