基于多功能数据采集卡和变速PID的转台控制系统设计

为了提高采用转台对惯导系统和惯性仪表进行误差模型标定时的可靠性和精度,对角位置转台的控制系统进行了研究。首先借助NI公司PXI-8101控制器和功能强大的数据采集卡PXIe-6363对转台控制系统进行了硬件设计。随后在对转台常规PID控制方法研究的基础上提出了一种能随系统调节偏差自动改变积分项累加速度的变速PID控制方法。接着又对基于软件实现的双通道旋转变压器轴角解调算法进行了研究并提出了一种粗精组合角纠错方法。最后对本文设计的转台控制系统进行了测试实验,结果表明提出的轴角解调算法具有较好的解码速度和精度,并且变速PID控制方法大大提高了转台控制系统的自学习能力和鲁棒性,显著地改善了转台控制过程的稳定性。     

Nonsmooth dynamic analysis of rigid-flexible interaction collision

This paper aims to explore the deformation of the collided bodies in multibody systems and to effectively simulate the motion path of colliding bodies. First, we describe the geometrically nonlinear problems of materials by the total Lagrangian formulation. Second, a first-order integration scheme is used to solve the dynamics equations. An algorithm combining the bi-potential method with the node-to-point contact identification is proposed to solve the interface problems of rigid-flexible interaction collision. To observe the collision process more intuitively, the internal software FER/VIEW is introduced to visualize the results. The accuracy is proved by comparing the proposed method with the analytical solution or another numerical solution. Moreover, the proposed method has more numerical robustness, such as occupying less computer storage, saving the computational cost, and broadening the application range of the bi-potential method.