一种高性能云台控制系统设计

摘要

According to monitoring requirements for high speed moving target,a design project of PTZ control system which uses the DC torque motor as executive component is presented . The structure is sim-plified by eliminating reduction gear,and the error is reduced as well as the self-excited oscillation is eliminated. The whole system design adopted the tricyclic structure of position loop, speed loop and cur-rent loop to form a position servo control system. Both current regulator and speed regulator were used PI regulator, position regulator used proportional regulator. The mathematical modeling methods for each link were also given and the parameters of every link were determined with the help of engineering design method. The simulation model and results were given under the environment of MATLAB. Under the step inputs of 0. 01°and 180°,the system overshoot and steady state error were all zero. The system output could completely follow the input by taking sinusoidal signal with 1 ° amplitude and 1 Hz frequency as sys-tem input. The results showed that the system had high location accuracy and better tracking performance and could satisfy the design request.%针对对高速运动目标的监控要求，提出了一种采用直流力矩电动机作为执行元件的云台控制系统设计方案。系统在结构上消除了减速装置，简化了结构，减小了误差以及消除了由此可能带来的自激振荡。整个系统设计采用位置、转速、电流三环结构，构成一个位置随动控制系统。电流调节器和转速调节器采用PI调节器，位置调节器采用比例调节器。给出了各个环节的数学建模方法，并按照工程设计方法进行了各环节的详细设计，确定了各调节器的参数。在MATLAB环境下对所设计系统进行了建模和仿真，在0.01°和180°的阶跃给定下，系统超调量和稳态误差均为0；在幅值为1°，频率为1 Hz正弦信号输入下，系统输出能够完全跟随输入。结果表明系统具有高的定位精度和较好的跟随性能，能够满足设计要求。