基于速度比例的伺服平台控制特性分析

针对伺服平台中非线性、多干扰的控制问题,文章采用速度比例、位置反演的控制方法对永磁伺服平台进行串行复合控制,利用电机及减速器动力学方程建立系统数学模型,通过递推Lyapunov函数的逐步演算,最终获得系统的控制量函数;经过仿真平台的俯仰及方位的阶跃控制特性分析,得到了反演比例控制策略的动态特性.

Control performance analysis of servo platform based on speed proportional

Aiming at the control problem of nonlinear and multi-interference for servo platform, series hybrid control method was proposed for PMSM servo platform with speed proposition and position backstepping. Math model was built based on motor and reducer dynamics model. Control function was obtained by calculation of the Lyapunov function figure. The dynamic performances of the backstepping and proportional control method were acquired by the analysis of step control specialty of the simulation platform with pitching and azimuth.