文档介绍：华中科技大学硕士学位论文
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。
关键词:天线伺服系统双轴消隙同步控制
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华中科技大学硕士学位论文
Abstract
Antenna servo system is an important device in radar and other tracking equipments,
which rotates the radar platform to track the mands 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 in