基于动力学模型的机载天线座力矩补偿控制研究

Research on Torque Compensation Control on Airborne Antenna Pedestal Based on Dynamics Model

中文关键词: 机载伺服系统  天线座  动力学  力矩补偿

英文关键词: airborne servo system  antenna pedestal  dynamics  torque compensation

中文摘要:

      当前随着载机性能的不断提升，机载雷达伺服系统需要克服载机大机动飞行时重载不平衡负载带来的力矩干扰，以确保伺服跟踪精度。文中以三轴正交串联构型的雷达天线座为例，借鉴串联机器人零力控制的力矩补偿思路，根据载机姿态信息，结合动力学分析，预估载机大机动过程中转台各轴收到的各项干扰力矩，并进行实时前馈补偿（至电流环），半实物仿真和实验证明伺服系统的抗扰动能力得到了有效提升。

英文摘要:

      With the continuous improvement of aircraft performance, the airborne radar servo system needs to overcome the torque disturbance caused by the unbalanced heavy load during the large maneuvering flight of the aircraft to ensure the servo tracking accuracy. Taking the three-axis orthogonal series configuration of the radar antenna pedestal as an example and borrowing the experience of force-free control strategy of the serial robot, various disturbance torques received by each axis of the antenna pedestal during the large maneuvering of the aircraft are estimated based on the carrier posture information combined with dynamics analysis and real-time feed-forward compensation to the current loop is performed. Hardware-in-the loop (HWIL) simulation and experiments have proved that the anti-disturbance ability of the servo system has been effectively improved.