船载天线伺服系统稳定回路分析与设计

为提高方位俯仰型船载天线伺服系统的船摇隔离度,稳定环是常采用的策略,但是选择传统的PID(Proportional Integral Derivative,比例积分微分)调节器往往不能获得满意的控制效果,针对该问题,提出了PID+积分+滞后校正环节作为稳定环调节器的具体实现形式。另外,通过对伺服系统内各环路带宽及响应速度的分析,将稳定环阶跃响应的上升时间作为参数调节依据。上述设计完成后,在实际系统中添加周期10s,幅值8°的正弦波信号模拟船摇扰动,此时添加稳定环后,方位轴的船摇隔离度提高了6dB,俯仰轴的船摇隔离度提高了13dB。这表明,采用PID+积分+滞后校正环节作为稳定环调节器的设计形式是正确且简单有效的。

Analysis and Design of a Stabilization Loop for Ship-Borne Antenna Servo Systems

To improve the ability of the ship-borne antenna servo system to isolate the ship shaking,a stabilization loop that uses gyroscope as the feedback element is commonly used,but choosing frequently-used Proportional Integral Derivative (PID) regulator as a form of its regulator often cannot obtain satisfactory result.Hence,the form of regulator that uses PID+integrator+lag compensation is put forward in this paper,and parameter debugging depends on the rise time of the stabilization loop through analyzing the bandwidth and response speed of the servo loop.After completion of the regulator,sinusoidal signal the amplitude of which is 8 degrees and cycle of which is 10 seconds is added in the system as ship-swaying to verify the effect of the scheme.The result of the experiment is that the tracking error of azimuth axis of the antenna decreases from 0.1 degrees to 0.05 degrees,and tracking error of elevation axis is reduced from 0.24 degrees to 0.049 degrees.It shows that the approach that puts PID+integrator+ lag compensation as the form of the regulator of stabilization loop is correct and effective.