Study On Servo Control And Drive Technology Of Trajectory Tracking Rotating Mirror

In the proving ground test field, the process of rolling, empennage splay and pulse ignition of a projectile are recorded by a high-speed rotating-mirror camera system, which is an effective way to measure and analyze the stability, the projectile attitude and parameters. The key to the system is the servo control and drive technology of rotating-mirror.Characteristics of the projectile are studied by using the research results of the ballistic and aerodynamic theories. Then, the control model of the rotating-mirror is established while the main parameters of the motor are analyzed. The system adopts AT91RM9200 as the core controller to control servo motor rotate, which can realize the imaging of the projectile on the horizontal direction through a plane mirror. With the purpose of real-time tracking, the rotating-mirror is drived when the servo motor running, while clear pictures of the projectile are taken by the high speed camera when the velocity of rotating mirror matches the projectile velocity.Based on the ARM technology, the design scheme of servo control and drive technology is finished in the paper and the application program is programmed on the VxWorks real-time embedded application platform which includes serial communication, projectile velocity acquisition, temperature acquisition and servo control. Then, the hardware circuit of the control unit is designed which can output the pulse of RS485 and satisfy the requirements of electronic gear control model. Simulated track recording experiments show the correctness and feasibility of the mathematical model.Experimental results show that the ARM control system can improve the real-time and insure the delay time below 1ms. The control model of electronic gear satisfies with the accuracy requirements of the servo motor, and the projectile velocity between 100m/s to 1500m/s can be tracked taking 100m at least and reaches accuracy of 0.5°.