CN114281111B - Control method and system for improving turning response capability of turntable - Google Patents
Control method and system for improving turning response capability of turntable Download PDFInfo
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- CN114281111B CN114281111B CN202111579260.5A CN202111579260A CN114281111B CN 114281111 B CN114281111 B CN 114281111B CN 202111579260 A CN202111579260 A CN 202111579260A CN 114281111 B CN114281111 B CN 114281111B
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Abstract
The application provides aThe control method and the system for improving the turning response capability of the turntable, wherein the control method comprises the following steps: acquiring angular deviation theta of turntable p Angle deviation theta p Is the difference between the current angle of the turntable and the target angle; determining the angle deviation theta p When the absolute value of (2) is larger than zero, opening a position control loop; the position control loop is used for responding to an externally input control instruction and controlling the turntable to rotate to a target angle; determining the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method comprises the steps of carrying out a first treatment on the surface of the Opening a speed control loop for controlling the turntable at an angular speed V ref Rotating; determining the angle deviation theta p When the absolute value of (c) is in the second deviation range, the speed control loop is closed. Through the steps, the optimal performance of the turntable can be exerted, the response speed of the turntable is improved, and the turning time is shortened.
Description
Technical Field
The present disclosure relates generally to the field of turntable control technologies, and in particular, to a method and a system for controlling a turntable response capability.
Background
The photoelectric tracking turntable integrates a multiband infrared detector, a visible light detector, a laser range finder and the like, has the functions of detection, tracking, positioning and the like in the comprehensive defense system, is an important component for ensuring the accurate striking of the defense system, and the performance of the photoelectric tracking turntable directly influences the combat capability of the whole system. The real-time quality of the tracking turntable directly determines whether the target can be quickly and effectively captured and tracked;
the control of the angle turning of the tracking turntable is required to have high response speed and small overshoot. These requirements are even more stringent for tracking turrets with large load moment of inertia. Therefore, the response capability of the controller involved in the target capturing process for the large-inertia tracking turntable large-angle rotation is more required;
the method for controlling the turning of the turntable in the prior art is usually to close the position control loop to control the turntable to rotate to a target angle, however, the problem that the position control loop has low bandwidth and slow response is not suitable for the requirement of higher response capability.
Disclosure of Invention
In view of the foregoing drawbacks and disadvantages of the prior art, it is desirable to provide a method and system for controlling the turning response of a turntable.
In a first aspect, the present application provides a method for improving the turning response capability of a turntable, comprising the steps of:
acquiring the angle deviation theta of the turntable p The angle deviation theta p Is the difference between the current angle of the turntable and a target angle;
judging the angle deviation theta p When the absolute value of (2) is larger than zero, opening a position control loop; the position control loop is used for responding to an externally input control instruction and controlling the turntable to rotate to the target angle;
judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method comprises the steps of carrying out a first treatment on the surface of the Opening a speed control loop for controlling the turntable at the angular speed V ref Rotating;
judging the angle deviation theta p Closing the speed control loop when the absolute value of (2) is in a second deviation range;
wherein a minimum value in the first deviation range is greater than a maximum value of the second deviation range; the minimum value of the second deviation range is 0.
According to the technical solution provided by the embodiment of the present application, the first deviation range includes n deviation sub-ranges W i I= … n, each of the deviation subranges W i Corresponds to a deviation parameter omega i ；
Judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method of (a) comprises the following steps:
judging the angle deviation theta p The deviation subrange W of the absolute value of (2) i Obtain the corresponding deviationParameter omega i ；
Calculating the angular velocity V according to formula (I) ref ：
V ref ＝ω i *sign(θ p ) (one).
According to the technical solution provided by the embodiment of the present application, the first deviation range includes a first deviation sub-range W 1 Second deviation subrange W 2 And a third deviation subrange W 3 ；
The first deviation sub-range W 1 The method comprises the following steps: greater than a first deviation threshold value theta 1 ；
The second deviation subrange W 2 The method comprises the following steps: greater than a second deviation threshold value theta 2 And is less than or equal to the first deviation threshold value theta 1 ；
The third deviation subrange W 2 The method comprises the following steps: greater than a third deviation threshold value theta 3 And is less than or equal to the second deviation threshold value theta 2 ；
θ 1 ＞θ 2 ＞θ 3 ；
Wherein the first deviation subrange W 1 Corresponds to the first deviation parameter omega 1 The method comprises the steps of carrying out a first treatment on the surface of the The second deviation subrange W 2 Corresponds to the second deviation parameter omega 2 The method comprises the steps of carrying out a first treatment on the surface of the The third deviation subrange W 3 Corresponds to the first deviation parameter omega 3 ；θ 1 、θ 2 、θ 3 、ω 1 、ω 2 、ω 3 Are all set values.
According to the technical scheme provided by the embodiment of the application, the second deviation range is as follows: less than or equal to the third deviation threshold value theta 3 。
According to the technical scheme provided by the embodiment of the application, the speed control loop comprises a speed loop controller; the position control loop includes a position loop controller.
A second aspect the present application provides a lift turret pitch response capability control system comprising:
a turntable;
the position control loop is used for responding to an externally input control instruction and controlling the turntable to rotate to a target angle;
a speed control loop for controlling the turntable at an angular speed V ref Rotating;
a controller configured to:
determining the angle deviation theta p The absolute value of (2) is larger than zero, and the position control loop is started; the angle deviation theta p Is the difference between the current angle of the turntable and a target angle;
judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref Opening the speed control loop;
judging the angle deviation theta p Closing the speed control loop when the absolute value of (2) is in a second deviation range;
wherein a minimum value in the first deviation range is greater than a maximum value of the second deviation range; the minimum value of the second deviation range is 0.
According to the technical solution provided by the embodiment of the present application, the first deviation range includes n deviation sub-ranges W i I= … n, each of the deviation subranges W i Corresponds to a deviation parameter omega i ；
The controller is specifically configured to:
judging the angle deviation theta p The deviation subrange W of the absolute value of (2) i And its corresponding deviation parameter omega i ；
Calculating the angular velocity V according to formula (I) ref ：
V ref ＝ω i *sign(θ p ) (one).
According to the technical solution provided by the embodiment of the present application, the first deviation range includes a first deviation sub-range W 1 Second deviation subrange W 2 And a third deviation subrange W 3 ；
The first deviation sub-range W 1 The method comprises the following steps: greater than a first deviation threshold value theta 1 ；
Said firstTwo deviation subranges W 2 The method comprises the following steps: greater than a second deviation threshold value theta 2 And is less than or equal to the first deviation threshold value theta 1 ；
The third deviation subrange W 2 The method comprises the following steps: greater than a third deviation threshold value theta 3 And is less than or equal to the second deviation threshold value theta 2 ；
θ 1 ＞θ 2 ＞θ 3 ；
Wherein the first deviation subrange W 1 Corresponds to the first deviation parameter omega 1 The method comprises the steps of carrying out a first treatment on the surface of the The second deviation subrange W 2 Corresponds to the second deviation parameter omega 2 The method comprises the steps of carrying out a first treatment on the surface of the The third deviation subrange W 3 Corresponds to the first deviation parameter omega 3 ；θ 1 、θ 2 、θ 3 、ω 1 、ω 2 、ω 3 Are all set values.
According to the technical scheme provided by the embodiment of the application, the second deviation range is as follows: less than or equal to the third deviation threshold value theta 3 。
According to the technical scheme provided by the embodiment of the application, the speed control loop comprises a speed loop controller; the position control loop includes a position loop controller.
The application has the beneficial effects that: by obtaining the angular deviation theta of the turntable p Judging the angle deviation theta p When the absolute value of the turntable is larger than zero, starting a position control loop, so that the position control loop responds to a control instruction input from the outside and controls the turntable to rotate to the target angle; by determining the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref Opening a speed control loop to control the turntable to rotate at an angular speed V ref The rotation can improve the bandwidth and the response speed; by determining the angle deviation theta p When the absolute value of (2) is in the second deviation range, the speed control loop is closed, and the position control loop can control the turntable to precisely rotate to the target angle, namely the angle deviation theta p Is 0; by the method, the most of the turntable can be exertedThe response speed of the turntable is improved, and the turning time is shortened.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method for controlling the response of a turntable in response to a turntable;
FIG. 2 is a schematic diagram of a method for controlling the response of the lift turret of FIG. 1 to turning;
FIG. 3 is a graph of test results of 180 degrees of turntable rotation provided by the application;
FIG. 4 is a graph of test results for a turntable rotated 50 and 100 according to the present application;
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
Referring to fig. 1, a control method for improving the turning response capability of a turntable according to the present embodiment includes the following steps:
s100: acquiring the angle deviation theta of the turntable p The angle deviation theta p Is the difference between the current angle of the turntable and a target angle;
specifically, the target angle is a set value; the current angle can be measured by a sensor;
s200: judging the angle deviation theta p When the absolute value of (2) is larger than zero, opening a position control loop; the position control loop is used for responding to an externally input control instruction to control the turntableRotating to the target angle;
s300: judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method comprises the steps of carrying out a first treatment on the surface of the Opening a speed control loop for controlling the turntable at the angular speed V ref Rotating;
s400: judging the angle deviation theta p Closing the speed control loop when the absolute value of (2) is in a second deviation range;
wherein a minimum value in the first deviation range is greater than a maximum value of the second deviation range; the minimum value of the second deviation range is 0.
Specifically, the turntable is a photoelectric tracking turntable; in the process of controlling the rotation of the turntable, the turntable rotates from the current angle to the target angle until the angle deviation theta p Is 0.
Specifically, the first deviation range, the second deviation range, the angular velocity V ref All are set values, and can be set according to actual requirements; for example, in this embodiment, the first deviation range is greater than or equal to 5 °, and the second deviation range is less than 5 °.
Working principle: by obtaining the angular deviation theta of the turntable p Judging the angle deviation theta p When the absolute value of the turntable is larger than zero, starting a position control loop, so that the position control loop responds to a control instruction input from the outside and controls the turntable to rotate to the target angle;
by determining the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref Opening a speed control loop to control the turntable to rotate at an angular speed V ref The rotation can improve the bandwidth and the response speed;
by determining the angle deviation theta p When the absolute value of (2) is in the second deviation range, the speed control loop is closed, and the position control loop can control the turntable to precisely rotate to the target angle, namely the angle deviation theta p Is 0;
by the method, the optimal performance of the turntable can be exerted, the response speed of the turntable is improved, and the turning time is shortened.
In a preferred embodiment, the first deviation range includes n deviation sub-ranges W i I= … n, each of the deviation subranges W i Corresponds to a deviation parameter omega i ；
Judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method of (a) comprises the following steps:
judging the angle deviation theta p The deviation subrange W of the absolute value of (2) i Obtaining the corresponding deviation parameter omega i ；
Calculating the angular velocity V according to formula (I) ref ：
V ref ＝ω i *sign(θ p ) (one).
Specifically, sign () is a sign function, ω i Is a set value;
in the present embodiment, the first deviation range includes three first deviation sub-ranges W 1 、W 2 、W 3 The method comprises the steps of carrying out a first treatment on the surface of the In other embodiments, the first deviation subrange may also be one, two or more.
Working principle: by setting n deviation sub-ranges W i I= … n, each of the deviation subranges W i Corresponds to a deviation parameter omega i The method comprises the steps of carrying out a first treatment on the surface of the Calculating the angular velocity V according to the above formula (one) ref So that the angular deviation theta of the turntable can be used p And angular velocity V ref And a corresponding relation is established, the overshoot performance is ensured, and the rapidity of the large-angle turning process of the tracking turntable is effectively improved.
In a preferred embodiment, the first deviation range includes a first deviation sub-range W 1 Second deviation subrange W 2 And a third deviation subrange W 3 ；
The first deviation sub-range W 1 The method comprises the following steps: greater than a first deviation threshold value theta 1 ；
The second deviation subrange W 2 The method comprises the following steps: greater than a second deviation threshold value theta 2 And is less than or equal to the first deviation threshold value theta 1 ；
The third deviation subrange W 2 The method comprises the following steps: greater than a third deviation threshold value theta 3 And is less than or equal to the second deviation threshold value theta 2 ；
θ 1 ＞θ 2 ＞θ 3 ；
Wherein the first deviation subrange W 1 Corresponds to the first deviation parameter omega 1 The method comprises the steps of carrying out a first treatment on the surface of the The second deviation subrange W 2 Corresponds to the second deviation parameter omega 2 The method comprises the steps of carrying out a first treatment on the surface of the The third deviation subrange W 3 Corresponds to the first deviation parameter omega 3 ；θ 1 、θ 2 、θ 3 、ω 1 、ω 2 、ω 3 Are all set values.
In the present embodiment, θ 1 ＝100°；θ 2 ＝50°；θ 2 ＝5°；ω 1 ＝150r/s；ω 2 ＝80r/s；ω 3 =20r/s, i.e.:
first deviation subrange: w (W) 1 ＞100°；
Second deviation subrange: 100 DEG or more W 2 ＞50°；
The third deviation subrange is: 50. not less than W 3 ＞5°；
For the convenience of explanation of the working principle of the embodiment, the angle deviation of the turntable is theta p For example, =101°, since the absolute value of 101 ° is within the first deviation subrange, therefore:
V ref ＝ω 1 *sign(101°)＝150r/s。
with the rotation, when the angle deviation of the turntable is theta p When=100°, since the absolute value of 100 ° is within the second deviation subrange, the following is true:
V ref ＝ω 1 *sign(100°)＝80r/s。
in a preferred embodiment, the second deviation range is: less than or equal to the third deviation threshold value theta 3 。
Specifically, the second deviation range is 5 ° or less.
To further illustrate the benefits of the present application, as shown in fig. 3 and 4:
fig. 3 is a graph of a test result of controlling the turntable to turn 180 ° by using the control method for the turning response of the lifting turntable provided by the application; curve b in fig. 3 is a graph of test results of controlling the turntable to turn 180 ° only by using the position control loop; as can be seen from fig. 3, curve a has a faster turn response capability.
FIG. 4 is a graph of test results of controlling the turntable to turn 50 DEG and 100 DEG by using the control method for the turning response of the lifting turntable provided by the application; curve b in fig. 4 is a graph of test results for controlling the turntable to turn 50 ° and 100 ° using only the position control loop; as can be seen from fig. 4, curve a has a faster turn response capability.
In a preferred embodiment, the speed control loop comprises a speed loop controller; the position control loop includes a position loop controller.
Preferably, the speed control loop further comprises a gyroscope, the gyroscope is used for detecting the actual angular speed of the turntable, sending an angular speed compensation instruction to the speed loop controller, and compensating the angular speed of the turntable so that the actual angular speed value approaches to the set angular speed V ref 。
Preferably, the position loop controller further comprises a rotation transformer, the rotation transformer is used for detecting the current angle of the turntable, sending a position compensation instruction to the speed loop controller, and performing position compensation on the turntable so that the actual deflection position approaches to the target position.
Example 2
The embodiment provides a control system for turning response of a lifting turntable, which comprises:
a turntable;
the position control loop is used for responding to an externally input control instruction and controlling the turntable to rotate to a target angle;
a speed control loop for controlling the turntable to rotate at an angular speedDegree V ref Rotating;
a controller configured to:
judging the angle deviation theta p The absolute value of (2) is larger than zero, and the position control loop is started; the angle deviation theta p Is the difference between the current angle of the turntable and a target angle;
judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref Opening the speed control loop;
judging the angle deviation theta p Closing the speed control loop when the absolute value of (2) is in a second deviation range;
wherein a minimum value in the first deviation range is greater than a maximum value of the second deviation range; the minimum value of the second deviation range is 0.
Working principle: by arranging a position control loop, the angle deviation theta of the turntable is obtained p Judging the angle deviation theta p The position control loop can respond to a control instruction input from the outside to control the turntable to rotate to the target angle when the absolute value of the turntable is larger than zero;
judging the angle deviation theta through a controller p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref Opening a speed control loop; so that the turntable is controlled at an angular velocity V ref The rotation improves the bandwidth and the response speed;
by determining the angle deviation theta p When the absolute value of (2) is in the second deviation range, the speed control loop is closed, and the position control loop can control the turntable to precisely rotate to the target angle, namely the angle deviation theta p Is 0;
by the method, the optimal performance of the turntable can be exerted, the response speed of the turntable is improved, and the turning time is shortened.
In a preferred embodiment, the first deviation range includes n deviation sub-ranges W i ，i＝1…n, each of the deviation sub-ranges W i Corresponds to a deviation parameter omega i ；
The controller is specifically configured to:
judging the angle deviation theta p The deviation subrange W of the absolute value of (2) i And its corresponding deviation parameter omega i ；
Calculating the angular velocity V according to formula (I) ref ：
V ref ＝ω i *sign(θ p ) (one).
In a preferred embodiment, the first deviation range includes a first deviation sub-range W 1 Second deviation subrange W 2 And a third deviation subrange W 3 ；
The first deviation sub-range W 1 The method comprises the following steps: greater than a first deviation threshold value theta 1 ；
The second deviation subrange W 2 The method comprises the following steps: greater than a second deviation threshold value theta 1 And is less than or equal to the first deviation threshold value theta 2 ；
The third deviation subrange W 2 The method comprises the following steps: greater than a third deviation threshold value theta 2 And is less than or equal to the second deviation threshold value theta 1 ；
θ 1 ＞θ 2 ＞θ 3 ；
Wherein the first deviation subrange W 1 Corresponds to the first deviation parameter omega 1 The method comprises the steps of carrying out a first treatment on the surface of the The second deviation subrange W 2 Corresponds to the second deviation parameter omega 2 The method comprises the steps of carrying out a first treatment on the surface of the The third deviation subrange W 3 Corresponds to the first deviation parameter omega 3 ；θ 1 、θ 2 、θ 3 、ω 1 、ω 2 、ω 3 Are all set values.
In a preferred embodiment, the second deviation range is: less than or equal to the third deviation threshold value theta 3 。
In a preferred embodiment, the system further comprises a sensor for detecting a current angle of the turntable; the speed control loop includes a speed loop controller; the position control loop includes a position loop controller.
Preferably, the speed control loop further comprises a gyroscope, the gyroscope is used for detecting the actual angular speed of the turntable, sending an angular speed compensation instruction to the speed loop controller, and compensating the angular speed of the turntable so that the actual angular speed value approaches to the set angular speed V ref 。
Preferably, the position loop controller further comprises a rotation transformer, the rotation transformer is used for detecting the current angle of the turntable, sending a position compensation instruction to the speed loop controller, and performing position compensation on the turntable so that the actual deflection position approaches to the target position.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (4)
1. The control method for improving the turning response capability of the turntable is characterized by comprising the following steps of:
acquiring the angle deviation theta of the turntable p The angle deviation theta p Is the difference between the current angle of the turntable and a target angle;
judging the angle deviation theta p When the absolute value of (2) is larger than zero, opening a position control loop; the position control loop is used for responding to an externally input control instruction and controlling the turntable to rotate to the target angle;
judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method comprises the steps of carrying out a first treatment on the surface of the Opening a speed control loop for controlling the turntableAt the angular velocity V ref Rotating;
judging the angle deviation theta p Closing the speed control loop when the absolute value of (2) is in a second deviation range;
wherein a minimum value in the first deviation range is greater than a maximum value of the second deviation range; the minimum value of the second deviation range is 0;
the first deviation range comprises n deviation sub-ranges W i I= … n, each of the deviation subranges W i Corresponds to a deviation parameter omega i ；
Judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref The method of (a) comprises the following steps:
judging the angle deviation theta p The deviation subrange W of the absolute value of (2) i Obtaining the corresponding deviation parameter omega i ；
Calculating the angular velocity V according to formula (I) ref ：
V ref ＝ω i *sign(θ p ) (one);
the first deviation range comprises a first deviation sub-range W 1 Second deviation subrange W 2 And a third deviation subrange W 3 ；
The first deviation sub-range W 1 The method comprises the following steps: greater than a first deviation threshold value theta 1 ；
The second deviation subrange W 2 The method comprises the following steps: greater than a second deviation threshold value theta 2 And is less than or equal to the first deviation threshold value theta 1 ；
The third deviation subrange W 2 The method comprises the following steps: greater than a third deviation threshold value theta 3 And is less than or equal to the second deviation threshold value theta 2 ；
θ 1 ＞θ 2 ＞θ 3 ；
Wherein the first deviation subrange W 1 Corresponds to the first deviation parameter omega 1 The method comprises the steps of carrying out a first treatment on the surface of the The second deviation subrange W 2 Corresponds to the second deviation parameter omega 2 The method comprises the steps of carrying out a first treatment on the surface of the The third oneDeviation subrange W 3 Corresponds to the first deviation parameter omega 3 ；θ 1 、θ 2 、θ 3 、ω 1 、ω 2 、ω 3 Are set values;
the second deviation range is: less than or equal to the third deviation threshold value theta 3 。
2. A method of controlling a turntable turn response capability according to claim 1, wherein:
the speed control loop includes a speed loop controller; the position control loop includes a position loop controller.
3. A lift turret turn response control system, comprising:
a turntable;
the position control loop is used for responding to an externally input control instruction and controlling the turntable to rotate to a target angle;
a speed control loop for controlling the turntable at an angular speed V ref Rotating;
a controller configured to:
determining the angle deviation theta p The absolute value of (2) is larger than zero, and the position control loop is started; the angle deviation theta p Is the difference between the current angle of the turntable and a target angle;
judging the angle deviation theta p When the absolute value of (2) is in the first deviation range, according to the angle deviation theta p Calculating the angular velocity V ref Opening the speed control loop;
judging the angle deviation theta p Closing the speed control loop when the absolute value of (2) is in a second deviation range;
wherein a minimum value in the first deviation range is greater than a maximum value of the second deviation range; the minimum value of the second deviation range is 0;
the first deviation range comprises n deviation sub-ranges W i I= … n, perEach of the deviation sub-ranges W i Corresponds to a deviation parameter omega i ；
The controller is specifically configured to:
judging the angle deviation theta p The deviation subrange W of the absolute value of (2) i And its corresponding deviation parameter omega i ；
Calculating the angular velocity V according to formula (I) ref ：
V ref ＝ω i *sign(θ p ) (one);
the first deviation range comprises a first deviation sub-range W 1 Second deviation subrange W 2 And a third deviation subrange W 3 ；
The first deviation sub-range W 1 The method comprises the following steps: greater than a first deviation threshold value theta 1 ；
The second deviation subrange W 2 The method comprises the following steps: greater than a second deviation threshold value theta 2 And is less than or equal to the first deviation threshold value theta 1 ；
The third deviation subrange W 2 The method comprises the following steps: greater than a third deviation threshold value theta 3 And is less than or equal to the second deviation threshold value theta 2 ；
θ 1 ＞θ 2 ＞θ 3 ；
Wherein the first deviation subrange W 1 Corresponds to the first deviation parameter omega 1 The method comprises the steps of carrying out a first treatment on the surface of the The second deviation subrange W 2 Corresponds to the second deviation parameter omega 2 The method comprises the steps of carrying out a first treatment on the surface of the The third deviation subrange W 3 Corresponds to the first deviation parameter omega 3 ；θ 1 、θ 2 、θ 3 、ω 1 、ω 2 、ω 3 Are set values;
the second deviation range is: less than or equal to the third deviation threshold value theta 3 。
4. A lift turret roll response control system as claimed in claim 3 wherein: the speed control loop includes a speed loop controller; the position control loop includes a position loop controller.
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