陀螺测试转台的低速复合控制研究

摘要

s:A novel combined control mode based on friction compensation control and repetitive control is presented to solve the problems existing in the gyroscope test turret at low speed. The compound control principle and the structure of com-bined control device for gyroscope test turret control system are analyzed in detail. The friction compensation controller,repeti-tive controller,speed controller and related software were designed. The simulation results demonstrate that the compound con-trol has significant restraint effect on the friction interference and can improve the system tracking accuracy greatly. The system has good dynamic and static performances,and perfect practicability.%　　针对陀螺测试速率转台低速时存在的问题，提出了一种基于摩擦补偿控制和重复控制构成的复合控制新模式，详细分析了复合控制原理和复合控制应用于陀螺测试速率转台控制系统的结构，设计了摩擦补偿控制器、重复控制器和速度控制器，并进行了软件设计。仿真结果表明：复合控制对转台低速运行时的摩擦干扰抑制效果显著，进一步提高了系统低速的跟踪精度，系统具有良好的动态性能和静态性能，实用性强。