• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (18): 187-195.doi: 10.3901/JME.2019.18.187

• 交叉与前沿 • 上一篇    

雷达伺服系统的自适应摩擦力矩补偿控制策略

姜仁华1, 刘闯1, 宁银行2   

  1. 1. 南京航空航天大学自动化学院 南京 210016;
    2. 上海电机学院电气学院 上海 201306
  • 收稿日期:2018-10-07 修回日期:2019-03-20 发布日期:2020-01-07
  • 作者简介:姜仁华,男,1980年出生,博士研究生,高级工程师。主要研究方向为雷达交流伺服系统与智能控制。E-mail:rhjiang@nuaa.edu.cn;刘闯,男,1973年出生,博士,教授,博士研究生导师。主要研究方向为现代交流调速、开关磁阻电机、航空航天电源系统、新能源发电等技术。E-mail:lc@nuaa.edu.cn;宁银行,男,1982年出生,博士,讲师。主要研究方向为现代交流调速、新能源发电技术。E-mail:nyh4711343@126.com
  • 基金资助:
    国家自然科学基金(51377076)、中央高校基本科研业务费专项资金(XCA17003-06)和江苏省“六大人才高峰”(YPC13013)资助项目。

Control Strategy with Adaptive Friction Torque Compensation for Radar Servo System

JIANG Renhua1, LIU Chuang1, NING Yinhang2   

  1. 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016;
    2. School of Electric, Shanghai Dianji University, Shanghai 201306
  • Received:2018-10-07 Revised:2019-03-20 Published:2020-01-07

摘要: 外部扰动因素影响下,时变的摩擦扰动使得雷达伺服系统在低速跟踪扫描或成像定位跟踪时出现爬坡或停止运动等现象,严重影响了雷达系统位置跟踪精度。在雷达伺服系统的数学模型的基础上,通过试验数据分析摩擦力对伺服跟踪精度的影响。根据机载雷达伺服系统环境多变的特点,引入温度和扰动影响因子,改进LuGre动态摩擦模型,设计出自适应摩擦力矩补偿控制策略,辨识了摩擦模型的参数,并结合李雅普诺夫(Lyapunov)稳定理论进行稳定性分析,得出系统稳定的控制参数。通过对所提出的控制器进行仿真分析和试验验证,结果表明新控制器对时变的摩擦力矩具有明显的补偿作用,可以减少系统低速的爬行现象。在满足雷达系统跟踪精度要求的同时,可以有效减轻摩擦力矩对雷达伺服系统低速跟踪性能的影响。

关键词: 雷达伺服, 摩擦力矩, 自适应控制, 稳定性分析

Abstract: Under the influence of external disturbances, time-varying friction disturbance make radar servo system easily work in the creep behavior or even stop when low-speed tracking, image and locating targets, which seriously affects the system tracking or imaging accuracy. Based on the mathematical model of radar servo system, the influence of friction on the system tracking accuracy is analyzed using the experimental data. In the light of changeable conditions of the servo system, introducing temperature and disturbance influence factors,a control strategy with adaptive friction torque compensation is proposed. For the controller, the LuGre model is improved and its parameters are identified. In addition, according to Lyapunov theory, the control parameters value corresponding to steady conditions are obtained. While meeting the radar servo system accuracy, the proposed controller has obvious compensation for the time-varying friction torque, showed by the simulation and experimental result, which means it can reduce the low-speed creep accident and the influence of friction torque on the radar servo system.

Key words: radar servo system, friction torque, adaptive control, steady analysis

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