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以并联稳定平台作为研究对象,介绍了并联型光电设备稳定平台的工作原理。根据交流伺服矢量控制原理,建立了并联稳定平台控制系统的数学模型。为提高系统的响应速度和跟踪特性,引入了基于速度和加速度补偿的前馈控制算法,并进行了并联稳定平台控制算法的仿真研究。结果表明前馈控制应用在并联稳定平台系统中可提高系统的响应速度,跟踪微分器和α-β-γ滤波补偿比位置差分具有更好的跟踪效果。
Taking the parallel stable platform as the research object, the working principle of the stable platform of the parallel photoelectric device is introduced. According to the theory of AC servo vector control, the mathematical model of the parallel platform control system is established. In order to improve the system response and tracking characteristics, a feedforward control algorithm based on speed and acceleration compensation was introduced and the simulation research on the control algorithm of parallel stable platform was carried out. The results show that the application of feedforward control in parallel stable platform system can improve the system response speed, tracking differentiator and α-β-γ filter compensation than the position difference has a better tracking effect.