基于五次多项式插值的大惯量弱刚性回转系统的启动速度控制

摘要

A rotary support system to support large targets for electromagnetic test, has the characteristics of large inertia and low stiffness. To ensure the speed overshoot of the tested target not greater than 0. 001°/s caused by the start acceleration from static state to rated speed of 0. 1°/s, a speed control algorithm based on single quintic polynomial interpolation along the entire acceleration process is put forward, which not only keeps the speed and acceleration continuous as well as differentiable during the whole process but also guar-antees the jerk always changes continuously. Compared with S-shaped acceleration and deceleration control algorithm, the proposed algorithm is much simpler and makes the system more flexible. Rigid-flexible cou-pling dynamics simulation on the rotary support system processed in ADAMS demonstrates the advantage of the proposed method.%用于支撑大型目标进行360°方位电磁测试的回转支撑系统具有大惯量弱刚性的特点,为满足系统在较短时间内由静止加速到测试转速0.1°/s所引起的待测目标的转速超调量不大于0.001°/s,提出利用单段五次多项式对整个加速过程进行速度插值的控制算法,不仅保证速度和加速度全过程连续可导,而且加加速度始终连续变化。与S形加减速控制算法相比,该算法更加简便且使系统具有更高的柔性,通过利用ADAMS对回转支撑系统进行刚柔耦合动力学仿真验证了该算法的优越性。