基于位置偏差调速的激光跟踪运动控制方法
Laser tracking motion control method with speed regulation based on position deviation
游奇峰 1唐强 1米良 1何韬 1肖杰1
作者信息
- 1. 中国工程物理研究院机械制造工艺研究所,四川成都 610000
- 折叠
摘要
跟踪算法和伺服算法的设计是实现激光跟踪运动控制的关键,决定激光跟踪运动的速度及其稳定性.为获得更好的跟踪性能,基于工业控制器及其伺服算法,提出一种基于实时角度位置偏差动态调节轴系运动速度的激光跟踪算法;首先,分析基于位置偏差动态调速实现连续稳定跟踪的控制原理;然后,建立被控对象的数学模型及包含此跟踪算法的跟踪系统数学模型,并完成激光跟踪的仿真测试;最后,搭建激光跟踪实验平台,对跟踪算法进行实验验证,最终实验结果表明,激光束能够很好跟踪动态目标,电机运行平稳流畅,跟踪能力优于 7(°)/s.该控制方法为激光跟踪测量系统的搭建提供技术参考.
Abstract
The design of tracking algorithm and servo algorithm is the key to realize laser tracking motion control,which determines the speed and stability of laser tracking motion.In order to obtain better tracking performance,based on the industrial controller and its servo algorithm,a laser tracking algorithm by dynamically adjusting the speed of the shaft system based on real-time angular position deviation is proposed.Firstly,the control principle of continuous and stable tracking with dynamic speed regulation based on position deviation is analyzed.Then,the mathematical model of the controlled object and the mathematical model of tracking system including this tracking algorithm is established,and the simulation test of laser tracking is completed.Finally,the laser tracking experimental platform is built to verify the tracking algorithm.The final experimental results show that the laser beam can track the dynamic target well,and the motor runs smoothly during the process,and the tracking ability is better than 7(°)/s.The control method provides a technical reference for the construction of the laser tracking measurement system.
关键词
激光跟踪/跟踪算法/速度控制/跟踪性能Key words
laser tracking/tracking algorithm/speed control/tracking performance引用本文复制引用
基金项目
国防科工局技术基础科研项目(J0067-1922-FJC)
出版年
2024
NETL
NSTL
万方数据