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从摩擦力矩的Stribeck模型入手,分析了摩擦非线性对炮控系统低速性能的影响。结果表明,系统“爬行”现象主要是由摩擦力矩的正反馈特性造成的,且只出现在系统低速运行状态;当跟踪速度足够高时,输入信号在炮控系统的运行过程中起主导作用,可有效的抑制其正反馈效应,使得系统平稳运行。进一步,给出并证明了系统低速“爬行”的充要条件,求解了系统的最低平稳转速。最后仿真分析了各种摩擦非线性补偿控制策略的效果,为炮控系统分析和设计提供理论依据。
Starting from the Stribeck model of friction torque, the influence of friction nonlinearity on the low speed performance of the gun control system is analyzed. The results show that the system “crawling ” phenomenon is mainly caused by the positive feedback of friction torque and appears only at low speed of the system. When the tracking speed is high enough, the input signal is dominated by the operation of the gun control system The effect can effectively inhibit the positive feedback effect, making the system run smoothly. Further, the sufficient and necessary conditions of low speed “crawling ” are given and proved, and the minimum steady speed of the system is solved. Finally, the effects of various friction nonlinear compensation control strategies are analyzed and simulated, which provides a theoretical basis for the analysis and design of the gun control system.