摘要
目的设计Ⅱ型跟踪伺服系统,解决传统经纬仪跟踪伺服系统跟踪精度低的问题.方法在原有PID控制系统稳定的前提下,引入动态高型控制方法,改进其控制结构,通过适时引入积分环节,优化了控制器的结构,改善了控制性能.结果仿真结果表明,引入动态高型控制方法后,系统获得比传统PID控制方法更高的稳态精度.对于跟踪快速运动目标,动态高型控制系统具有较大的优势,不但跟踪速度快且稳态精度高.结论采用动态高型控制方法,能提高系统的稳态跟踪精度,且系统的动态性能可满足实际应用的要求.仿真结果证明了该方法的可行性和有效性,在光电经纬仪伺服系统中具有广阔的应用前景.
In order to improve the stable precision of tracking, the Ⅱ type system with high - degree - mode dynamic control method is designed on the basis of the balance of primary PID control system. The application of high- degree - mode dynamic control method optimizes the frame of PID controller, and improves controlling performances by introducing the integrals timely. Simulation results show that high - degree - mode dynamic control method can greatly enhance the stable precision and have much more advantages in tracking fast objects as opposed to PID control. The tracking speed of High - degree - mode dynamic control method is fast, and its stable precision of tracking is excellent. Its dynamic performance can satisfy with the actual demand of the tracking servo system of theodolite. Simulation results validate its validity and feasibility, which will be applied widely in the servo system of theodolite in the future.
出处
《沈阳建筑大学学报（自然科学版）》
EI
CAS
2005年第6期749-752,共4页
Journal of Shenyang Jianzhu University：Natural Science
基金
建设部基金项目(03-2-117)
辽宁省教育厅项目(202080720)
关键词
经纬仪伺服系统
PID控制
动态高型
斜坡阶跃累加
Servo system of theodolite
PID control
high-degree-mode dynamic
accumulated sloping jumping step
