Study On Design Methods For Servo System Of Theodolite Based On Plate Model Method

Among the control methods for theodolite, the Integrated Leading is a method which collecting all the measured data and information in locale, assembling them in a special format, forming a optimized estimate to the active target position, and using the estimate to control theodolite servo-system. The aim of Integrated Leading is to get better tracking effect for theodolite. Because the Integrated Leading related to several measurement equipments and those equipments have different influences on the servo-system's stability, the control design for theodolite should give a tradeoff on the stability and the tracking effect to the servo-system. This paper employs a nonlinear control technique to solve the problem.1. A new method for controller design is proposed. After throwing a lot of study on existing nonlinear control methods, a new method is proposed which is derived from capacitor. Considering the action exerted on electric particle between two plates of a capacitor, a kind of restricted function is constructed for state variable. After analyzing the nonlinearity of the restricted function, a nonlinear control strategy is obtained which is suit for practice.2. An analysis on the relation between the'particle'and the controlled plant. Cause the variety of plant, the essential of establishing this relationship is to analyze the stability of system. Firstly, based on some conclusions and methods from the Passivity and the Differential-geometry, a design method for the above nonlinear controller is presented whose stability is insured. Secondly, putting a view for the practice, an approximate equivalence between linear one and nonlinear is induced. This equivalence gives out a principle for the parameter of the nonlinear controller.3. Some approaches for improving the method are given. Together with the straightforward physical meaning of the method above, some variations are induced from the method, and some of them have close relations with some control methods which is existed. Analysis and simulation for some variations are presented.4. Using the method proposed in this paper to control the servo-system of theodolite. Based on analysis and identification of the theodolite's servo-system dynamics, the new method and its variations are used to control the servo-system, simulation and testing for them are carried out...