Research On Fiber Optic Coil Winding Motors Control Strategy

Fiber optic coil is the core component of fiber optic gyroscope,whose light path parameters have significant characteristics of distributed,and its geometrical properties and physical properties are easily affected by the physical fields,generating non-reciprocal phase error.Using symmetric winding method and consistent-low tension control can effectively alleviate the non-reciprocal error due to temperature gradient and stress gradient.The tension control and the precise rowing control during the winding process are essentially the precise synchronous motion control for multi-axis.Based on the synchronous control requirements of the fiber optic coil winding system,the high-precision control strategy of the motor was analyzed and researched in the aspects of single motor tracking precision control and multi-motors synchronous precision control.To realize the high-precision control of the dynamic tracking ability of the single motor,a compound disturbance suppression control strategy of the motor was put forward,to improve the performance of the classical position servo PID control system,based on the detailed analysis of the basic control principle of the permanent magnet synchronous motor(PMSM).On the basis of the precise linearization mathematical model of permanent magnet synchronous motor,the equivalent input disturbance(EID)estimation algorithm is used in this control strategy,to estimate and compensate the external disturbance and disturbances caused by parameter variation,load mutation and other disturbance during the motor operation,improving the disturbance suppression ability of the motor.And on the basis of this estimation algorithm,the compound controller with the stability and the command response speed both taken into account was designed,by combining the backstepping algorithm and the feedforward control algorithm,to improve the tracking precision of the system.To realize the high-precision synchronous control of multi-motors,the synchronization control requirements of the fiber optic coil winding system for the servo motors,and theposition synchronization relationship of motors were analyzed,based on analysis of the structure and the tension control principle of the winding system.And based on the comparison of different synchronous control methods,the four-motors deviation coupling synchronization control system that suitable for the winding system was constructed.And then the relationship between the synchronization error on the fiber-winding motor,the fiber-put motors,and the rowing motor,and the position compensation value of the input of each motor,were analyzed in detail.And on this basis,the BP neural network was used to improve the position compensator of the system,for the problem that the fixed gain compensation could not feedback the parameter change of the system.Finally,the system was modeled and simulated in the MATLAB/SIMULINK environment.Through the simulation experiments,the step response performance,dynamic tracking performance and robustness of the single motor control system,and the synchronization relationship between the motors,under different control methods,were analyzed and compared.The simulation results showed that the proposed control strategy could highly improved the performance of the system more than general control method,and that the single motor dynamic tracking error and the multi-motors synchronization error of the system could be maintained within ±0.02 rad,met the requirements of the fiber optic coil winding system to motors,verifying the validity of the supposed compound disturbance suppression control strategy on single motor,and the deviation coupling synchronous control strategy on multi-motors based on the BP neural network compensation algorithm.