Research on the Synchronous Control Algorithm of a Special Target Simulator
|School||Harbin Institute of Technology|
|Course||Navigation,Guidance and Control|
|Keywords||servo system synchronous driving the speed-error feedback discr- ete sliding mode controller|
This research comes from a cooperative project with Aerospace Science and Industry Corporation, and it focuses on the design of the synchronous control algorithm for a special target simulator.The evaluation to homing head of the guided missile is accomplished by semi-physical emulation test. Target simulator, as the core of the test, requires the drive component to track the input signals accurately. So that the load with radio emitter can accomplish several simple movements. In that way the target simulator can simulate the dynamic process of the target being attacked by a missile. The basic aim is to be accurate and dynamic. The design of the control system of the target simulator is a typical servo system designing problem.In the paper, according to the guideline of the system, the driving component and driving mode in X direction and Y direction of the target simulator are designed. Because the control systems in both directions are decoupleed, it’s reasonable to design the controllers of the two directions individually. Due to the design requirement in the X direction of the target simulator, synchronous drive of double motors is chosed as the driving mode in this direction. Synchronous error of double motors effects the system performance. It’s very necessary to adopted the methods of current motor synchronous theory after model building. Synchronous controllers based on the parallel connection of double motors and the speed-error feedback method.are designed. Steady state characteristics and dynamic characteristics of the latter are mainly analyzed. Comparison between the two methods are also discussed. The synchronous shaft, as the mechanical synchronous method, is applied to the system base on the speed-error feedback method. This synchronous driving system is analysed and can restrain synchr- onous error effectively.Since friction exists in almost all-mechanical system, it will lead to jerking motion of servo system in low speed range. Synchronous controller based on double motors and the speed-error feedback method is simulated by Matlab and can not solve this problem ideally. After friction modeling based on the theory of the physics characteristic of friction, the SMC controller is designed according to theory of sliding mode control. The sliding mode surface and parameters of reaching law are designed appropriatly according to related rules. The results of the simulation prove that the sliding mode variable structure controller is obviou- sly validate the low speed creeping problem.