光电稳定跟踪装置误差建模与评价问题研究
|
摘要
光电稳定跟踪装置是现代精确制导、火控武器装备的重要组成部分,随着精确打击作战方式的不断发展,对该类装置的高精度设计提出了更高的要求。装置是光机电技术结合的产物,其性能受到光学、机械和控制技术等多方面因素的影响,深入分析设计、制造和伺服控制等误差的影响机理,研究误差的测量与评价方法,对于提高装置精度具有重要意义。本文围绕着如何合理评价装置性能这一主题,在对装置进行运动学、动力学机理分析的基础上,针对影响装置精度的各项误差源,开展了误差建模及各项误差作用规律的研究,对装置误差的定量评价、几何误差的分配以及测试等问题也做了深入的分析和探讨。
本文的研究工作包含以下几个部分:
1.分析了装置基本工作原理和系统组成,采用空间机构运动学理论,研究了两轴、三环两轴、三轴等多轴多环架结构形式的稳定跟踪机理,深入分析几种结构形式的特点以及适用的载体和目标环境,为合理选择结构类型和建立几何误差模型奠定了基础。
2.应用牛顿力学理论,以两轴稳定结构为例,分析了在载体振动环境中装置各种干扰力矩的来源与耦合方式,推导了惯量耦合力矩、偏心力矩等的具体作用模型,采用数学模型并结合仿真研究了被动隔振器与装置结构的动力学特性,为分析干扰力矩的影响、设计高精度控制器提供了依据。
3.分析了影响装置稳定跟踪精度的主要误差来源,应用框图形式说明了它们的作用途径;采用光学成像质量评定方法,定量的分析了不同振动形式对光电探测器的性能影响。结合稳定跟踪机构的设计指标,提出了装置性能综合评价的具体方法。
4.基于多体系统运动学误差建模理论,分析了机构几何误差的组成,建立了基于几何误差的机构指向误差和定位误差模型,并研究了其概率分布特征,为装置总体性能评价提供了理论模型;对陀螺安装和机构垂直度误差造成的陀螺敏感误差进行了运动学分析,利用仿真手段说明了各项误差与载体运动的耦合关系,对陀螺安装和误差测试有指导作用。
5.根据误差项的随机性特点,提出了基于统计理论和Monte Carlo方法的误差综合和分配方法;通过误差敏感度概念的构建,研究了几何误差的合成与分配问题,并给出了某实际装置的稳定误差分析评价的具体实例。
6.分析了几何误差测试的运动学原理,设计、分析和比较了多种测试方案,提出了几何误差分离和补偿的方法,对某装置进行的误差测试进一步验证了方法的可行性。
Developing with the accurate beating in mordern battle, Opto-Electronic Stabilization/Tracking Equipment (OESTE) faces the demand of designing with higher accuracy, as the essential part of modern armament, e.g. accurate control & guide weapon , firepower control system. The performance of OESTE is affected by plenty of factors, e.g. optical signal process, mechanism design and servo control. For increase the precision of OESTE, there is a necessity to consider each error source and its effect during designing, manufacturing and controlling, and to research on the method of error measuring and evaluation. The dissertation focuses on this problem, and develops the error model to study the effect rule of error source, based on the kinematics and dynamics analysis of OESTE. And the paper also discusses the quantitative method of error evaluation, the geometrical error assignment and testing.
The main work is organized as follows:
1. The working principle and component of OESTE were analyzed firstly. Using the kinematics theory of spacial mechanism, the paper illuminated the stabilization and tracking mechanism of the multi-axis gimbal. The characteristic of these gimbal was indicated, and the paper concluded the motion environment of carrier and target fitting for the gimbals. This work provided the basis for choosing the gimbal type and modeling the geometrical error.
2. Based on Newton mechanics, the paper analyzed the source of disturbance torques and coupling manner, taking the two-axis gimbal as example. And the torque expressions were derived owing to the inertial coupling and centroid offset. This work offered the theoretic guidance to analyze the effect of torques and design the controller. Furthermore, the dynamical characteristic of the isolator and gimbal was researched by the mathematical model and FEA, providing the fundamental for designing isolator and gimbal.
3. Analyzing the main error sources of OESTE, the paper illuminated their effect by structural chart manner. The influence of optic-eletronic detector by different vibration was analyzed and compared quantificationally, which adopted the assess means of optical imaging. And the synthetical method of OESTE evaluation was presented considering the design index of gimbal.
4. Founded on the theory of multi-body kinematics and error modeling, the geometrical errors were studied. The paper estabilished the pointing and orientation error modeling defined based on geometrical errors, and discussed the probability of these models. The sense error of gyro was researched on kinematics as a result of fixing error and gimbal perpendicularity. And the paper illuminated the relationship between thes error items and disturbance motion combined with simulation. This work laid the foundation of OESTE performance evaluation and measurement.
5. As the randomicity of error source, the synthesis method of error based on statistics theory and Monte Carlo simulation means was presented. By the definition of error sensitivity, the problems of geometrical error synthesis and error allocation were studied. And the paper took a practical OESTE as the example of error analysis and evaluation.
6. The kinematics principle of geometrical measurement was research. And some measuring scenario were designed, analyzed and compared each other. The paper also advanced the method of geometrical error separation and compensation. The practical measurement to an OESTE validated the feasibility of the method hereinbefore.
本文的研究工作包含以下几个部分:
1.分析了装置基本工作原理和系统组成,采用空间机构运动学理论,研究了两轴、三环两轴、三轴等多轴多环架结构形式的稳定跟踪机理,深入分析几种结构形式的特点以及适用的载体和目标环境,为合理选择结构类型和建立几何误差模型奠定了基础。
2.应用牛顿力学理论,以两轴稳定结构为例,分析了在载体振动环境中装置各种干扰力矩的来源与耦合方式,推导了惯量耦合力矩、偏心力矩等的具体作用模型,采用数学模型并结合仿真研究了被动隔振器与装置结构的动力学特性,为分析干扰力矩的影响、设计高精度控制器提供了依据。
3.分析了影响装置稳定跟踪精度的主要误差来源,应用框图形式说明了它们的作用途径;采用光学成像质量评定方法,定量的分析了不同振动形式对光电探测器的性能影响。结合稳定跟踪机构的设计指标,提出了装置性能综合评价的具体方法。
4.基于多体系统运动学误差建模理论,分析了机构几何误差的组成,建立了基于几何误差的机构指向误差和定位误差模型,并研究了其概率分布特征,为装置总体性能评价提供了理论模型;对陀螺安装和机构垂直度误差造成的陀螺敏感误差进行了运动学分析,利用仿真手段说明了各项误差与载体运动的耦合关系,对陀螺安装和误差测试有指导作用。
5.根据误差项的随机性特点,提出了基于统计理论和Monte Carlo方法的误差综合和分配方法;通过误差敏感度概念的构建,研究了几何误差的合成与分配问题,并给出了某实际装置的稳定误差分析评价的具体实例。
6.分析了几何误差测试的运动学原理,设计、分析和比较了多种测试方案,提出了几何误差分离和补偿的方法,对某装置进行的误差测试进一步验证了方法的可行性。
Developing with the accurate beating in mordern battle, Opto-Electronic Stabilization/Tracking Equipment (OESTE) faces the demand of designing with higher accuracy, as the essential part of modern armament, e.g. accurate control & guide weapon , firepower control system. The performance of OESTE is affected by plenty of factors, e.g. optical signal process, mechanism design and servo control. For increase the precision of OESTE, there is a necessity to consider each error source and its effect during designing, manufacturing and controlling, and to research on the method of error measuring and evaluation. The dissertation focuses on this problem, and develops the error model to study the effect rule of error source, based on the kinematics and dynamics analysis of OESTE. And the paper also discusses the quantitative method of error evaluation, the geometrical error assignment and testing.
The main work is organized as follows:
1. The working principle and component of OESTE were analyzed firstly. Using the kinematics theory of spacial mechanism, the paper illuminated the stabilization and tracking mechanism of the multi-axis gimbal. The characteristic of these gimbal was indicated, and the paper concluded the motion environment of carrier and target fitting for the gimbals. This work provided the basis for choosing the gimbal type and modeling the geometrical error.
2. Based on Newton mechanics, the paper analyzed the source of disturbance torques and coupling manner, taking the two-axis gimbal as example. And the torque expressions were derived owing to the inertial coupling and centroid offset. This work offered the theoretic guidance to analyze the effect of torques and design the controller. Furthermore, the dynamical characteristic of the isolator and gimbal was researched by the mathematical model and FEA, providing the fundamental for designing isolator and gimbal.
3. Analyzing the main error sources of OESTE, the paper illuminated their effect by structural chart manner. The influence of optic-eletronic detector by different vibration was analyzed and compared quantificationally, which adopted the assess means of optical imaging. And the synthetical method of OESTE evaluation was presented considering the design index of gimbal.
4. Founded on the theory of multi-body kinematics and error modeling, the geometrical errors were studied. The paper estabilished the pointing and orientation error modeling defined based on geometrical errors, and discussed the probability of these models. The sense error of gyro was researched on kinematics as a result of fixing error and gimbal perpendicularity. And the paper illuminated the relationship between thes error items and disturbance motion combined with simulation. This work laid the foundation of OESTE performance evaluation and measurement.
5. As the randomicity of error source, the synthesis method of error based on statistics theory and Monte Carlo simulation means was presented. By the definition of error sensitivity, the problems of geometrical error synthesis and error allocation were studied. And the paper took a practical OESTE as the example of error analysis and evaluation.
6. The kinematics principle of geometrical measurement was research. And some measuring scenario were designed, analyzed and compared each other. The paper also advanced the method of geometrical error separation and compensation. The practical measurement to an OESTE validated the feasibility of the method hereinbefore.
引文
[1]范大鹏.《光电稳定伺服机构控制技术》专题文章导读[J].光学精密工程,2006,14(4):673.
[2]王明远.从近十年几场高技术局部战争看新军事变革的趋势[J].中国航天,2003,8:39-41.
[3]张荆,苏泽清,黄青.机载光-电系统的精度分析[J].红外与激光工程,1999,28(5):55-59.
[4]陈苗海.机载光电导航瞄准系统的应用和发展情况[J].电光与控制,2003,10(4):42-46.
[5]中国人民解放军国防科技大学.某型光电侦察平台技术.某研究项目建议书[R].2006.
[6]中国人民解放军国防科技大学.某红外成像图像跟踪控制技术.某研究项目建议书[R].2006.
[7]郭富强,于波,汪叔华.陀螺稳定装置以及应用[M].西安:西北工业大学出版社,1995.
[8]成刚.光电稳定跟踪的机械结构分析与研究[D].西安:西安电子科技大学硕士学位论文.2000.
[9]陈非凡,张高飞,陈益峰.小卫星动量轮非线性特性建模与仿真方法[J].宇航学报,2003,24(6):651-655.
[10]Michael Sweeney,Emery Erdelyi,Mehrdad Ketabchi,etc.Design Consideration for Optical Pointing and Scanning Mechanism[A].SPIE,Vol.5176:135-146.
[11]Ho Dong Seok,Joon Lyou.Digital image stabilization using simple estimation of the rotational and translational motion[A].SPIE,Vol.5810:170-181.
[12]Ping Zhong.Research on methods of motion estimation and compensation in electronic image stabilization technique[A].SPIE,Vol.5637:182-188.
[13]Russel T.Rudin.Strapdown Stabilization for Imaging Seekers[A].AIAA93-2660:1-10.
[14]Peter J Kennedy,Rhonda L.Kennedy.Direct versus Indirect Line of Sight(LOS)Stabilization[J].IEEE Transactions on Control Systems Technology,Vol.11,2003:3-15.
[15]C.James Cooper.Sensor Line of Sight Stabilization[J].SPIE,Vol.1498:24-38.
[16]KeithAtkin.Jane's Electro-Optic Systems[M].Tamam Plug-in Optronic Payload (POP):2002-2003.
[17]Jerome W.Fisk,Arthur K.Rue.Confidence Limits for the Pointing Error of Gimbaled Sensors[J].IEEE Transaction on Aerospace and Electronic Systems,1966,AES-21(6):648-654.
[18]Takashi Jono,Tsukuba Ibaraki,Tsukuba Ibaraki,etc.Laser tracking test under satellite microvibrational disturbances by OICETS ATP system[A].SPIE,Vol.4714:97-104.
[19]贾平,张葆.航空光电侦察平台关键技术及其发展[J].光学 精密工程,2003,11(1):82-88.
[20]http://www.flir.com
[21]http://www.controp.com
[22]http://www.missilesandfirecontrol.com
[23]http://www.ratheon.com
[24]http;//www.wescam.com
[25]http://www.polytech.se
[26]http://www.iai.co.il
[27]http://www.rafael.co.il
[28]郭富强,毛玉增.惯性导航陀螺平台[M].北京:国防工业出版社,1980.
[29]郭素云.陀螺仪原理及应用.哈尔滨:哈尔滨工业大学出版社[M].1985.
[30]王承瑶.陀螺稳定系统.国防工业出版社[M].1985.
[31]郭素云.随机干扰作用下陀螺稳定平台动态特性研究[J].哈尔滨工业大学学报,1987,19(3):23-31.
[32]梁克强.一种瞄准线稳定跟踪系统的探讨[J].火力与指挥控制,1990,15(2):14-18.
[33]梁克强,宋跃进,蒋安.大型反射镜双轴稳定系统研究[J].火力与指挥控制,1993,18(1):36-41.
[34]郭富强.惯导平台的隔离度研究[J].西北工业大学学报,1993,11(2):218-222.
[35]冯永利,杨文淑.陀螺稳定控制系统设计与仿真[J].光电工程,2003,30(1):32-34.
[36]黄永梅,张桐,马佳光等.高精度跟踪控制系统中电流环控制技术研究[J].光电工程,2005,32(1):16-19.
[37]纪明.高精度光电二级稳定系统的运动隔离和补偿分析[J].兵工学报,1996,17(4):320-324.
[38]纪明.多频谱光电综合系统高精度稳定技术研究[J].应用光学,1996,17(3):55-60.
[39]毕永利,刘洵,葛文奇等.机载多框架陀螺稳定平台速度稳定环设计[J].光电工程,2004,31(2):16-18.
[40]李洁,葛文奇,关贵柱等.精稳控制系统与跟踪架运动耦合问题的分离[J].光电工程,2002,29(5):8-11.
[41]张建民,韩根甲.下视惯性平台瞄准线稳定的数理分析[J].光学与光电技术,2004,2(6):55-57.
[42]王楚清,杨坤涛,刘爱东.潜艇潜望镜瞄准线三轴稳定研究[J].舰船科学技术,2004,26(1):50-52.
[43]张聘义,祁载康,崔莹莹等.一种匹配滤波方法在导引头捷联稳定平台中的应用研究[J].红外技术,2005,27(1):6-11.
[44]王敏.扫描摆镜控制的数字PID实现[J].现代电子技术,2005,4:82-83.
[45]周瑞青,吕善伟,刘新华.弹载捷联式天线平台两种稳定实现方法的比较[J].系统工程与电子技术,2005,27(5):1397-1400.
[46]周瑞青,吕善伟,刘新华.捷联式天线平台数字稳定技术及仿真研究[J].系统仿真学报,2004,16(10):2234-2236.
[47]张智永,范大鹏,范世珣.光电稳定跟踪装置的控制系统设计[J].光学 精密工程,2006,14(4):681-688.
[48]范大鹏,张智永,范世珣,李岩.光电稳定跟踪装置的稳定机理分析研究[J].光学 精密工程,2006,14(4):673-680.
[49]罗护,范大鹏,张智勇,吴正洪.两轴陀螺稳定系统中陀螺安装的几种方法[J].兵工学报,2005,26(3):426-428.
[50]胡浩军.运动平台捕获、跟踪与瞄准系统视轴稳定技术研究[D].长沙:国防科技大学博士学位论文,2005.
[51]王永富.高精度陀螺稳定随动系统研究[D].哈尔滨:哈尔滨工业大学博士学位论文,1999.
[52]范国滨.光束稳定与振动控制的光机电一体化系统研究[D].西安:西安电子科技大学博士学位论文,2004.
[53]范国滨,贾建援,陈贵敏等.机械振动对光学系统指向精度的影响[J].中国机械工程,2005,16(2):104-106.
[54]姬伟,李奇,杨海峰.四轴稳定跟踪转台伺服控制系统的研究与实现[J].中国惯性技术学报,2005,13(3):70-75.
[55]A.K.Rue.Stabilization of Precision Electrooptical Pointing and Tracking Systems.IEEE Transactions on Aerospace and Electronic Systems[J].1969,AES-5(1):805-819.
[56]A.K.Rue.Correction to "Stabilization of Precision Electrooptical Pointing and Tracking Systems"[J].IEEE Transactions on Aerospace and Electronic Systems,1970,AES-6(1):855-857.
[57]Bobby L.Ulich.Overview of acquisition and tracking and pointing system technologies[A].SPIE,Vol.887:40-63.
[58]Michael K.Masten,Henry R.Sebesta.Line-of-Sight Stabilization/Tracking System:an Overview[A].Proceedings of the American Control Conference,1987:1477-1482.
[59]Michael K.Masten,J.M.Hilkert.Electromechanical System Configuration for Pointing,Tracking and Stabilization Application[A].SPIE,Vol.779:75-87.
[60]Michael K.Masten,J.M.Hilkert.Impact of optics decisions upon line-of-sight stabilization[A].SPIE,Vol.389:98-106.
[61]Larry A.Stockum,George R.Carroll.Precision stabilized platform for shipboard electro-optical systems[A].SPIE,Vol.493:414-425.
[62]Larry A.Stockum,James Burge.Electro-mechanical Design for Precision Pointing and Tracking Systems[A].SPIE,Vol.779:66-74.
[63]Larry A.Stockum,George R.Carroll.Precision stabilized platform for shipboard electro-optical systems[A].SPIE,Vol.493:414-425.
[64]A.K.Rue.Precision Stabilization Systems[J].IEEE Transactions on Aerospace and Electronic Systems.1974,AES-10(1):34-42.
[65]W.L.Casey,D.D.Phinney.Representative pointed optics and associated gimbal characteristics.[A].SPIE,Vol.887:116-123.
[66]Jim Royalty.Development of Kinematics for Gimballed Mirror Systems[A].SPIE,Vol.1304:262-274.
[67]John C.Polasek.Matrix Analysis of Gimbaled Mirror and Prism Systems[J].Journal of the Optical Society of America.1967,Vol.57(10):1193-1201.
[68]Michael Sweeney,Emery Erdelyi,Mehrdad Ketabchi.Design Consideration for Optical Pointing and Scanning Mechanisms[A].SPIE,Vol.5176:135-146.
[69]Richard Preliasco.A Wide-look-angle gimbal for an Airborne Electro-Optical Systems[A].SPIE,Vol.1998:104-111.
[70]William J.Bigley,Fred Schupan.Wideband Base Motion Isolation Control for a Mobile Platform[A].Proceedings of the American Control Conference,1987:1483-1490.
[71]Lawrence M.Germann,Avanindra A.Gupta,Robert A.Lewis.Precision Pointing and Inertial Line-of-Sight Stabilization Using Fine-Steering Mirrors,Star Trackers and Accelerometer[A].SPIE,Vol.887:96-101.
[72]Meir Iecovich.Line of Sight Stabilization Requirements for Target Tracking Systems[A].SPIE,Vol.1304:100-111.
[73]Doyle.K.B.An Optimization Method for the Design of Structures for Maximum Fundamental Frequency[D].Ph.D.Dissertation,University of Arizona,Tucson,AZ.1993.
[74]Keith B.Doyle,Vincent J.Cerrati.Optimal Structural Design of the Aircraft Infrared Imager[A].SPIE,Vol.2542:11-22.
[75]George Downey,Larry Stockum.Electro-Optical Systems Considerations[A].SPIE,Vol.1111:70-84.
[76]George Downey.Electro-Optical Systems Tracking Considerations Ⅱ[A].SPIE,Vol.5082:139-153.
[77]王卿,王佳民.惯性平台内、外框架结构系统的动力响应分析[J].振动与冲击,2005,24(4):122-126.
[78]王卿,王佳民.惯性平台框架类结构件的试验模态分析[J].宇航学报,2005,26(6):753-757.
[79]付继波,马静,姚建军.弹性支撑惯导系统振动耦合问题研究[J].强度与环境,2005.32(2):46-51.
[80]姚建军,付继波.捷联惯导系统振动耦合特性研究[C].首届全国航空航天领域中的力学问题学术研讨会论文集,成都,2004.
[81]R.K Mishra,AMG Pillai,MR Sheshadri,etc.Airborne Electro-Optical Sensor Performance Predictions and Design Consideration[A].SPIE,Vol.1482:138-145.
[82]J.M.Hilkert,M.Bowen,J.Wang.Specification for Image Stabilization Systems[A].SPIE,Vol.1498:24-38.
[83]Edward O.Donnell.Image Steadiness:a critical factor in system performance[A].SPIE,Vol.762:51-56.
[84]张秉华,张守辉.光电成像跟踪系统[M]成都:电子科技大学出版社,2003.
[85]Jean-Baptiste HAUMONE,Jean-Claude VENTURINO,Xavier DENIS.Simplifying the conception of opto-mechanical systems thanks to direct integration of optical design capabilities in mechanical CAD software[A].SPIE,Vol.6034:1-6.
[86]张葆,贾平,黄猛.动载体成像底座无角位移减振器的设计[J].光学技术,2003,29(4):464-466.
[87]张葆.动载体成像振动主动控制技术的研究[D].长春:中国科学院长春光机所博士学位论文,2003.
[88]国防科学技术工业委员会.中华人民共和国国家军用标准:军用设备环境试验方法振动试验[S].GJB 150.16-86,1987:93-164.
[89]Paul Merritt,Jed Donaldson,David O'Brien.Angular Vibration Survey of Various Aircraft[A].SPIE,Vol.5087:35-45.
[90]J.D.Robson,J.W.Roberts.A Theoretical Basis for the Practical Simulation of Random Motions[J].Journal Mechanical Engineering Science,1965,7(2):246-251.
[91]E.A.Meeder.Random-Vibration Analysis[J].Machine Design,1965,7(10):179-184.
[92]Lawrence E.Green.How to Convert Test Specifications for Random Vibration into Measurable Parameters[J].Machine Design,1964,11(3):171-172.
[93]D.DeYoung,S.Baugh,R.Galeeti,etc.Beam control system for an airborne laser radar.SPIE,Vol.3631:311-320.
[94]马佳光.捕获跟踪与瞄准系统的基本技术问题[J].光学工程,1989,3:1-42.
[95]金毅民.瞄准线的几何稳定原理与陀螺配置[J].应用光学,1991,12(2):41-43.
[96]光电捕获跟踪与瞄准技术译文集(第一集)[M].成都:中科院光电技术研究所出版发行,1993.
[97]纪明.多环架光电稳定系统及分析[J].应用光学,1994,15(3):60-64.
[98]任戈.复合轴结构的运动关系分析[J].光电工程,1995,22(6):41-46.
[99]张智永,范大鹏,范世珣.光电稳定跟踪装置的控制系统设计[J].光学 精密工程,2006,14(4):681-688.
[100]毕永利.多框架光电平台控制技术研究[D].长春:中国科学院长春光机所博士学位论文,2003.
[101]王连明.机载光电平台的稳定与跟踪伺服控制[D].长春:中国科学院长春光机所博士学位论文,2002.
[102]Lee,T.H.,Tan,K.K.,Lee.M.W.Variable Structure-Augmented Adaptive Controller for a Gyro-Mirror Line-of-Sight Stabilization Platform[J].Mechatronics,1998,8(1):47-64.
[103]Ge,S.S.Lee,T.H.Zhao,Q.Real-Time Neural Network Control of a Free Gyro Stabilized Mirror System[A].Proceedings of the American Control Conference,1997,2:1076-1080.
[104]Lee,T.H.Nie,J.H.Lee,M.W.Fuzzy Controller with Decoupling for Multivariable Nonlinear Servo-Mechanisms with Application to Real-Time Control of a Passive Line-of-Sight Stabilization System[J].Mechatronics,1997,7(1):83-104.
[105]Marathe,Rajeev.Krishna Moorty,J.A.R.Sule',V.R.H_∞ Control Law for Line-of-Sight Stabilization for Mobile Land Vehicles[J].Optical Engineering,2002,41(11):2935-2944.
[106]Krishna Moorty,J.A.R.Marathe,Rajeev;Babu,Hari.Fuzzy Controller for Line-of-Sight Stabilization Systems[J].Optical Engineering,2004,43(6):1394-1400.
[107]William J,Bigley,Steven P,Tsao,Optimal Motion Stabilization Control of an Electro-Optical Sight System[A].SPIE,Vol.1482:116-120.
[108]J.M.Hilkert,David A.Hullender,Adaptive control system techniques applied to inertial stabilization systems[A].SPIE,Vol.1306:190-206
[109]姜玉宪.伺服系统低速跳动问题[J].自动化学报,1982,8(2):136-144.
[110]刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述[J].系统工程与电子技术,2002,24(2):45-52.
[111]B.Armstrong,P.Dupont,C.C.anudas de Wit.A Survey of Models,Analysis Tools and Compensation Methods for the Control of Machines with Friction[J].Automatica,1994,30(7):1083-1138.
[112]Dowson D.History of Tribology[M].London:Longman Ltd,1966.
[113]刘金琨.先进PID控制MATLAB仿真(第2版)[M].北京:电子工业出版社,2004.
[114]Dauh P.A Solid Friction Model[C].Aerospace Corp.,1968.
[115]Canudas De Wit C.A New Model for Control of Systems with Friction[J].IEEE Transaction on Automatic Control,1995,40(3):419-425.
[116]Canudas De Wit C.Comment on A New Model for Control of Systems with Friction[J].IEEE Transaction on Automatic Control,1998,43(8):1189-1496.
[117]Canudas De Wit C.,E Lischinsky.Adaptive Friction Compensation with Partially Known Dynamic Friction Model[A].Int.Journal Of Adaptive Control and Signal Processing,1997,11:65-80.
[118]B.Friedland,Y.J.Park.Adaptive Friction Compensation[J].IEEE Transaction.on Automatic Control,1992,37(10):1609-1612.
[119]Armstron B,Neevel D,Kusik T.New Result in NPID Control:Tracking,Integral Control,Friction Compensation and Experimental Result[C].In Proceedings of the 1999 IEEE International Conference on Robotics &Automation,1999:837-842.
[120]Tung E D,Anwar G,Tomizuka M.Low Velocity Friction Compensation and Feedforward Solution Based on Repetitive Control[J].ASME Journal of Dynamic Systems,Measurement and Control,1993,11:279-284.
[121]Kim Y H,Lewis F L.Reinforcement Adaptive Learning Neural Network Based Friction Compensation for High Speed and Precision[C].In Proceedings of the 37th IEEE Conference on Decision & Control,1998:1064-1069.
[122]Teeter J T,Chow M Y,Jame J.A Novel Fuzzy Friction Compensation Approach to Improve the Performance of a DC Motor Control System[J].IEEE Transaction on Industrial Electronics,1996,43(1):113-120.
[123]刘又午,刘丽冰,赵小松等.数控机床误差补偿技术研究[J].中国机械工程,1998,9(12):48-52.
[124]W.Knapp.Test of three-dimension uncertainty of machine tools and measuring machines and its relation to the machine error[J].Ann.CIRP,1983,32(1):459-464.
[125]D.L.Leete.Automatic compensation of alignment errors in machine-tool[J].Int.J.Mace Tools.Des.Res,1961,1:293-324.
[126]D.French,S.H.Humphries.Compensation for backlash and alignment errors in a numerically controlled machine-tool by a digital computer program[J].M.T.D.R.Conf.Proc,1967,8:707-726.
[127]Schultschik R.The Components of Volumetric Metrology[J].Annals of the CIRP,1977,26(1):223-228.
[128]Hocken R.,etal.Three Dimensional Metrology[J].Annals of the CIRP,1977,26(1):403-408.
[129]A.K.Elshchnawy,I.Ham.Performance improvement of in coordinate measuring machines by error[J].Manufacturing Systems,1989,9(2):151-158.
[130]John C.Ziegert,Prashant Kalle.Error Compensation in Machine Tools:A Neural Network Approach[J].Journal of Intelligent Manufacture,1994,5:143-151.
[131]Mahbubur Rahman,etc.Modelling,measurement and error compensation of multi-axis machines tools.Part Ⅰ:theory[J].International Journal of Machine Tools & Manufacture,2000,40:1535-1546.
[132]杨建国,潘志宏,薛秉源.数控机床几何和热误差综合数学模型及实时补偿[J].机械设计与制造,1998,5:31-32.
[133]黄田,李亚,李思维等.一种三自由度并联机构几何误差建模、灵敏度分析及装配工艺设计[J].中国科学E辑,2002,32(5):628-635.
[134]休斯敦,刘又午.多体系统动力学(上、下册)[M].天津:天津大学出版社,1987.
[135]刘又午,刘丽冰,赵小松等.数控机床误差补偿技术研究[J].中国机械工程,1998,9(12):48-52.
[136]刘又午,章青等.数控机床误差补偿技术及应用[J].制造技术与机床.(连载),1988,12-1999,6.
[137]郑德志.超精密车削加工误差源诊断技术的研究[D].哈尔滨工业大学博士学位论文,2002.
[138]Poyner.A.D.,Montgomery.J.W.MMT Pointing and tracking[A].SPIE,Vol.628:9-15.
[139]Scott Keitzer,James Kimbrell,David Greenwald.Deterministic Errors in Pointing And Tracking System Ⅰ:Identification And Correction of Static Errors[A].SPIE,Vol.1482:406-414.
[140]James Kimbrell,David Greenwald.Deterministic Errors in Pointing and Tracking System Ⅱ:Identification And Correction of Dynamic Errors.SPIE.Vol.1482:415-424.
[141]金光,倪伟.星体弧长法标定光电经纬仪指向精度[J].光学精密工程,1999,7(4):91-95.
[142]Jerome W.Fisk,Arthur K.Rue.Confidence Limits for the Pointing Error of Gimbaled Sensors[J].IEEE Transaction on Aerospace and Electronic Systems,1966,AES-2(6):648-654.
[143]Arthur K.Rue.Calibration of Precision Gimbaled Pointing Systems[J].IEEE Transaction on Aerospace and Electronic Systems.1970,AES-6(5):697-706.
[144]James M.B.Royalty.Gimbal rate loop electrical noise:how much can you stand?[A].SPIE,Vol.1950:234-241.
[145]李岩,张智永,范大鹏.陀螺安装误差影响视轴稳定平台精度的机理研究[J].光电工程,2007,34(9):10-15.
[146]杨功流,杨军.陀螺仪安装误差的测量方法研究[J].华中科技大学学报(自然科学版),2003,31(7):78-80.
[147]David S.Anderson.International Space Station rate gyro alignment estimation[A].SPIE,Vol.5420:11-21.
[148]纪明.反射镜稳定系统的仿真与误差分析.应用光学,2000,21(5):19-22.
[149]Louis A.DeMore,Robert A.Peterson,Louis B.Conley,etc.Design Study for a High Accuracy Three-axis Test Table[J].AIAA Guidance and Control Conference,1985,1893:318-333.
[150]周锐,杨涤,王恒霖.飞行仿真转台指向误差分析及误差分配[J].航天控制,1996,3:66-72.
[151]C.Or,R.L.Wong,R.L.Atmadja,etc.Performance Evaluation of a Precision Pointing Payload[A].AIAA Guidance,Navigation,and Control Conference and Exhibit,2002,8:1-5.
[152]Oliver E.Drummond.Methodologies for Performance Evaluation of Multitarget Multisensor Tracking[A].SPIE,Vol.3809:355-369.
[153]刘桂雄,阎华,郑时雄等.熵概念的发展及其在精度理论中的应用[J].华南理工大学学报(自然科学版),2003,27(10):16-20.
[154]李龙根,刘桂雄.基于熵概念的现代精度评价方法研究[J].佛山科学技术学院学报(自然科学版),2003,21(3):21-24.
[155]Liu Gui xiong,Li Long geng,Luo Yi.Robot Pose Accuracy Theory Based on Entropy Uncertainty[J].Proceedings of the International symposium on precision mechanical measurement,2002,4:442-446.
[156]李海平,钟瑞麟,魏岳等.导弹末制导精度分析的协方差方法研究[J].战术导弹技术,2004,1(1):49-54.
[157]Chih-Young Lin,Wei-Hsin Huang,Ming-Chang Jeng,etc.Study of an Assembly Tolerance Allocation Model Based on Monte Carlo Simulation[J].Journal of Materials Processing Technology,1997,70:9-16.
[158]Christoper C.Yang,V.N.Achutha Naikan.Optimum Design of Component Tolerances of Assemblies Using Constraint Networks[J].International Journal of Production Economics,2003,84:149-163.
[159]Stephane Caro,Fouad Bennis,Philippe Wenger.Tolerance Synthesis of Mechanisms:A Robust Design Approach[J].Transactions of the ASME,2005,127:86-94.
[160]Wen Yuh Jywe,Chien Hong.Verification and Evaluation Method for Volumetric and Position Errors of CNC Machine Tools[J].International Journal of Machine Tools & Manufacture,2000,40(13):1899-1911.
[161]Robert L.Meeks.Improving Telescope Mechanical Errors Estimates Using Pointing Data[D].Ph.D.Dissertation,Colorado State University of Arizona,2003.
[162]宋燕平.机构机械精度检测的矢量方法[J].空间电子技术,2004,1:55-58.
[163]刘正云,苏建刚.瞄准线稳定精度的室内测试技术[J].光学精密工程,1999,7(5):95-99.
[164]张安锋.光电稳定系统的稳定精度测试研究[D].长春理工大学硕士论文,2003.
[165]谷素梅.大型光学惯性稳定跟踪仪器稳像精度测试系统原理方案探讨[J].应用光学,1999,19(6):5-8.
[166]刘正云.PSD用于稳像仪稳像精度测试方法探讨[J].应用光学,1995,16(1):50-52.
[167]刘昱,韩德一.惯性平台水平角误差测量方法的研究[J].航空精密制造技术,2003,39(3):40-42.
[168]Michael A.Borrello,Mohammed S.Santina,Thomas H.Weight.Jitter stabilization experiment for a precision pointing optical system[A].SPIE,Vol.641:94-101.
[169]陈秋林,薛永琪.从遥感图像估算遥感平台的稳定精度[J].红外与毫米波学报,2002,21(1):19-22.
[170]陶建峰,王旭永,刘成良.五轴飞行仿真转台及其关键技术研究[J].机床与液压,2006.6:78-82.
[171]张波,姬琪,沈湘衡.检测光电跟踪测量设备的激光模拟空间目标[J].光电子激光,2004,14(3):324-326.
[172]周维虎,费业泰,李百源等.激光跟踪仪几何误差修正[J].仪器仪表学报,2002,23(1):56-63.
[173]陈文建,郑宝忠,杨建莉,多光轴多光谱自动校准技术[J].应用光学,2004,25(1):60-64.
[174]Shalom Wilk,Menachem Goldmunz,Nachum Shahaf,etc.Line-of-sight alignment of a multi-sensor system[A].SPIE,Vol.1442:140-147.
[175]孙方金,陈世杰.精密轴系回转精度测试[M].哈尔滨:哈尔滨工业大学出版社,1997.
[176]范凯峰,田赤军,牛立等.惯性平台中成对角接触球轴承的应用与研究[J].中国惯性技术学报,2005,13(3):1-3.
[177]杨锡和.一种新型雷达天线方位转台[J].雷达与对抗,2004.2:63-64.
[178]K.Peter Heiland.Recent Advancements in Passive and Active Vibration Control Systems[A].SPIE,Vol.1619:22-33.
[179]Aria Alasty,Hasan Abedi.Kinematic and Dynamic Sensitivity Analysis of a Three-Axis Rotary Table[A].Proceedings of 2003 IEEE Conference on Control Applications,2:1147-1152.
[180]金毅民,陶忠,孙治家.轴系运动的数学仿真与轴系误差[J].应用光学,2003,24(B08):37-49.
[181]Richard L.Pio.Euler Angle Transformations[J].Transactions on Automatic Control,1966,AC-11(4):707-715.
[182]贾书惠.刚体动力学[M].北京:高等教育出版社,1987.
[183]James C.Debruin,Jim Royyalty,Marty Wand,etc.Feedforward stabilization testbed[A].SPIE,Vol.2739:204-214.
[184]D.A.Haessig Jr.,B.Friedland.On the modeling and simulation of friction[J].ASME Journal of Dynamics System,Measurement and Control,1991,3:354-362.
[185]L(o|¨)rinc Matrton,Bela Lantos.Modelling,Identification,and Compensation of Stick-Slip Friction[J].IEEE Transations on Industrial Electronics,2007,54(1):511-521.
[186]Armstrong B,Amin B.PID Control in the Presence of Static Frction:A Comparison of Algebraic and Describing Function Analysis[J].Automatica,1996,32(5):679-692.
[187]Chun-Liang Lin,Yi-Hsing Hsiao.control for disturbance torque rejection in seeker stabilizing loop[J].IEEE Transactions on Control Systems Technology,2001,9(1):108-121.
[188]Dino Sciulli,Daniel J.Inman.Comparison of Single- and Two-Degree-of-Freedom Models for Passive and Active Vibration Isolation Design[A].SPIE,Vol.2720:293-302.
[189]Darren R.Laughlin,Mark A.Hawes,John P.Blackburn,etc.A Low-Cost Alternative to Gyroscope for Tracking System Stabilization[A].SPIE,Vol.1304:2-13.
[190]李晓彤.几何光学和光学设计[M].杭州:浙江大学出版社,1997.
[191]刘钧,高明.光学设计[M].西安:西北工业大学出版社,2006.
[192]粟时平.多轴数控机床精度建模与误差补偿方法研究[D].国防科学技术大学博士学位论文,2002.
[193]李书和,张奕群,杨世民.多轴机床空间误差的一般模型[J].仪器仪表学报,1997,18(4):364-367.
[194]李岩,范大鹏.基于多体系统运动学理论的三轴转台装配误差建模分析[J].兵工学报,2007,28(8):981-987.
[195]曲智勇,姚郁.仿真转台误差分析及其误差建模[J].计算机仿真,2006,23(3):301-304.
[196]Unification document Me.Axis of rotation[S].Annals of CIRP,1976,2.
[197]任顺清,陈世杰,李玉华.论瞬时轴线垂直度、平均回转轴线垂直度与Wobble的关系[J].中国惯性技术学报,2002,2.
[198]国防科学技术工业委员会.中华人民共和国国家军用标准:惯性技术测试设备主要性能测试方法[S].GJB1801-93.
[199]王永年,祝梁生,孙隆和.头盔显示/瞄准系统[M].北京:国防工业出版社,1994.
[200]楼宇希.雷达精度分析[M].北京:国防工业出版社,1979.
[201]J.S.贝达特,A.G.皮尔索.凌福根译.随机数据分析方法[M].北京:国防工业出版社,1976.
[202]徐钟济.蒙特卡罗方法.上海:上海科学技术出版社[M],1985.
[203]吴昭同,杨将新等.计算机辅助公差优化设计[M].浙江:浙江大学出版社,1999.
[204]李纯甫.统计公差与机械精度.北京:机械工业出版社,1990.
[205]滚动轴承 综合样本 日本精工株式会社.1997.
[206]http://www.faro.com
[207]http://www.apisensor.com
[208]李广云.激光跟踪测量系统的原理及在车身在线检测中的应用[J].上海计量测试,2002,29(4):14-18.
[209]孙大许,马强,闫勇刚等.激光跟踪测量系统原理及在制造业中的应用[J].机械,2005,32(8):56.
[210]毛英泰.误差理论与精度分析[M].北京:国防工业出版社,1982.
[2]王明远.从近十年几场高技术局部战争看新军事变革的趋势[J].中国航天,2003,8:39-41.
[3]张荆,苏泽清,黄青.机载光-电系统的精度分析[J].红外与激光工程,1999,28(5):55-59.
[4]陈苗海.机载光电导航瞄准系统的应用和发展情况[J].电光与控制,2003,10(4):42-46.
[5]中国人民解放军国防科技大学.某型光电侦察平台技术.某研究项目建议书[R].2006.
[6]中国人民解放军国防科技大学.某红外成像图像跟踪控制技术.某研究项目建议书[R].2006.
[7]郭富强,于波,汪叔华.陀螺稳定装置以及应用[M].西安:西北工业大学出版社,1995.
[8]成刚.光电稳定跟踪的机械结构分析与研究[D].西安:西安电子科技大学硕士学位论文.2000.
[9]陈非凡,张高飞,陈益峰.小卫星动量轮非线性特性建模与仿真方法[J].宇航学报,2003,24(6):651-655.
[10]Michael Sweeney,Emery Erdelyi,Mehrdad Ketabchi,etc.Design Consideration for Optical Pointing and Scanning Mechanism[A].SPIE,Vol.5176:135-146.
[11]Ho Dong Seok,Joon Lyou.Digital image stabilization using simple estimation of the rotational and translational motion[A].SPIE,Vol.5810:170-181.
[12]Ping Zhong.Research on methods of motion estimation and compensation in electronic image stabilization technique[A].SPIE,Vol.5637:182-188.
[13]Russel T.Rudin.Strapdown Stabilization for Imaging Seekers[A].AIAA93-2660:1-10.
[14]Peter J Kennedy,Rhonda L.Kennedy.Direct versus Indirect Line of Sight(LOS)Stabilization[J].IEEE Transactions on Control Systems Technology,Vol.11,2003:3-15.
[15]C.James Cooper.Sensor Line of Sight Stabilization[J].SPIE,Vol.1498:24-38.
[16]KeithAtkin.Jane's Electro-Optic Systems[M].Tamam Plug-in Optronic Payload (POP):2002-2003.
[17]Jerome W.Fisk,Arthur K.Rue.Confidence Limits for the Pointing Error of Gimbaled Sensors[J].IEEE Transaction on Aerospace and Electronic Systems,1966,AES-21(6):648-654.
[18]Takashi Jono,Tsukuba Ibaraki,Tsukuba Ibaraki,etc.Laser tracking test under satellite microvibrational disturbances by OICETS ATP system[A].SPIE,Vol.4714:97-104.
[19]贾平,张葆.航空光电侦察平台关键技术及其发展[J].光学 精密工程,2003,11(1):82-88.
[20]http://www.flir.com
[21]http://www.controp.com
[22]http://www.missilesandfirecontrol.com
[23]http://www.ratheon.com
[24]http;//www.wescam.com
[25]http://www.polytech.se
[26]http://www.iai.co.il
[27]http://www.rafael.co.il
[28]郭富强,毛玉增.惯性导航陀螺平台[M].北京:国防工业出版社,1980.
[29]郭素云.陀螺仪原理及应用.哈尔滨:哈尔滨工业大学出版社[M].1985.
[30]王承瑶.陀螺稳定系统.国防工业出版社[M].1985.
[31]郭素云.随机干扰作用下陀螺稳定平台动态特性研究[J].哈尔滨工业大学学报,1987,19(3):23-31.
[32]梁克强.一种瞄准线稳定跟踪系统的探讨[J].火力与指挥控制,1990,15(2):14-18.
[33]梁克强,宋跃进,蒋安.大型反射镜双轴稳定系统研究[J].火力与指挥控制,1993,18(1):36-41.
[34]郭富强.惯导平台的隔离度研究[J].西北工业大学学报,1993,11(2):218-222.
[35]冯永利,杨文淑.陀螺稳定控制系统设计与仿真[J].光电工程,2003,30(1):32-34.
[36]黄永梅,张桐,马佳光等.高精度跟踪控制系统中电流环控制技术研究[J].光电工程,2005,32(1):16-19.
[37]纪明.高精度光电二级稳定系统的运动隔离和补偿分析[J].兵工学报,1996,17(4):320-324.
[38]纪明.多频谱光电综合系统高精度稳定技术研究[J].应用光学,1996,17(3):55-60.
[39]毕永利,刘洵,葛文奇等.机载多框架陀螺稳定平台速度稳定环设计[J].光电工程,2004,31(2):16-18.
[40]李洁,葛文奇,关贵柱等.精稳控制系统与跟踪架运动耦合问题的分离[J].光电工程,2002,29(5):8-11.
[41]张建民,韩根甲.下视惯性平台瞄准线稳定的数理分析[J].光学与光电技术,2004,2(6):55-57.
[42]王楚清,杨坤涛,刘爱东.潜艇潜望镜瞄准线三轴稳定研究[J].舰船科学技术,2004,26(1):50-52.
[43]张聘义,祁载康,崔莹莹等.一种匹配滤波方法在导引头捷联稳定平台中的应用研究[J].红外技术,2005,27(1):6-11.
[44]王敏.扫描摆镜控制的数字PID实现[J].现代电子技术,2005,4:82-83.
[45]周瑞青,吕善伟,刘新华.弹载捷联式天线平台两种稳定实现方法的比较[J].系统工程与电子技术,2005,27(5):1397-1400.
[46]周瑞青,吕善伟,刘新华.捷联式天线平台数字稳定技术及仿真研究[J].系统仿真学报,2004,16(10):2234-2236.
[47]张智永,范大鹏,范世珣.光电稳定跟踪装置的控制系统设计[J].光学 精密工程,2006,14(4):681-688.
[48]范大鹏,张智永,范世珣,李岩.光电稳定跟踪装置的稳定机理分析研究[J].光学 精密工程,2006,14(4):673-680.
[49]罗护,范大鹏,张智勇,吴正洪.两轴陀螺稳定系统中陀螺安装的几种方法[J].兵工学报,2005,26(3):426-428.
[50]胡浩军.运动平台捕获、跟踪与瞄准系统视轴稳定技术研究[D].长沙:国防科技大学博士学位论文,2005.
[51]王永富.高精度陀螺稳定随动系统研究[D].哈尔滨:哈尔滨工业大学博士学位论文,1999.
[52]范国滨.光束稳定与振动控制的光机电一体化系统研究[D].西安:西安电子科技大学博士学位论文,2004.
[53]范国滨,贾建援,陈贵敏等.机械振动对光学系统指向精度的影响[J].中国机械工程,2005,16(2):104-106.
[54]姬伟,李奇,杨海峰.四轴稳定跟踪转台伺服控制系统的研究与实现[J].中国惯性技术学报,2005,13(3):70-75.
[55]A.K.Rue.Stabilization of Precision Electrooptical Pointing and Tracking Systems.IEEE Transactions on Aerospace and Electronic Systems[J].1969,AES-5(1):805-819.
[56]A.K.Rue.Correction to "Stabilization of Precision Electrooptical Pointing and Tracking Systems"[J].IEEE Transactions on Aerospace and Electronic Systems,1970,AES-6(1):855-857.
[57]Bobby L.Ulich.Overview of acquisition and tracking and pointing system technologies[A].SPIE,Vol.887:40-63.
[58]Michael K.Masten,Henry R.Sebesta.Line-of-Sight Stabilization/Tracking System:an Overview[A].Proceedings of the American Control Conference,1987:1477-1482.
[59]Michael K.Masten,J.M.Hilkert.Electromechanical System Configuration for Pointing,Tracking and Stabilization Application[A].SPIE,Vol.779:75-87.
[60]Michael K.Masten,J.M.Hilkert.Impact of optics decisions upon line-of-sight stabilization[A].SPIE,Vol.389:98-106.
[61]Larry A.Stockum,George R.Carroll.Precision stabilized platform for shipboard electro-optical systems[A].SPIE,Vol.493:414-425.
[62]Larry A.Stockum,James Burge.Electro-mechanical Design for Precision Pointing and Tracking Systems[A].SPIE,Vol.779:66-74.
[63]Larry A.Stockum,George R.Carroll.Precision stabilized platform for shipboard electro-optical systems[A].SPIE,Vol.493:414-425.
[64]A.K.Rue.Precision Stabilization Systems[J].IEEE Transactions on Aerospace and Electronic Systems.1974,AES-10(1):34-42.
[65]W.L.Casey,D.D.Phinney.Representative pointed optics and associated gimbal characteristics.[A].SPIE,Vol.887:116-123.
[66]Jim Royalty.Development of Kinematics for Gimballed Mirror Systems[A].SPIE,Vol.1304:262-274.
[67]John C.Polasek.Matrix Analysis of Gimbaled Mirror and Prism Systems[J].Journal of the Optical Society of America.1967,Vol.57(10):1193-1201.
[68]Michael Sweeney,Emery Erdelyi,Mehrdad Ketabchi.Design Consideration for Optical Pointing and Scanning Mechanisms[A].SPIE,Vol.5176:135-146.
[69]Richard Preliasco.A Wide-look-angle gimbal for an Airborne Electro-Optical Systems[A].SPIE,Vol.1998:104-111.
[70]William J.Bigley,Fred Schupan.Wideband Base Motion Isolation Control for a Mobile Platform[A].Proceedings of the American Control Conference,1987:1483-1490.
[71]Lawrence M.Germann,Avanindra A.Gupta,Robert A.Lewis.Precision Pointing and Inertial Line-of-Sight Stabilization Using Fine-Steering Mirrors,Star Trackers and Accelerometer[A].SPIE,Vol.887:96-101.
[72]Meir Iecovich.Line of Sight Stabilization Requirements for Target Tracking Systems[A].SPIE,Vol.1304:100-111.
[73]Doyle.K.B.An Optimization Method for the Design of Structures for Maximum Fundamental Frequency[D].Ph.D.Dissertation,University of Arizona,Tucson,AZ.1993.
[74]Keith B.Doyle,Vincent J.Cerrati.Optimal Structural Design of the Aircraft Infrared Imager[A].SPIE,Vol.2542:11-22.
[75]George Downey,Larry Stockum.Electro-Optical Systems Considerations[A].SPIE,Vol.1111:70-84.
[76]George Downey.Electro-Optical Systems Tracking Considerations Ⅱ[A].SPIE,Vol.5082:139-153.
[77]王卿,王佳民.惯性平台内、外框架结构系统的动力响应分析[J].振动与冲击,2005,24(4):122-126.
[78]王卿,王佳民.惯性平台框架类结构件的试验模态分析[J].宇航学报,2005,26(6):753-757.
[79]付继波,马静,姚建军.弹性支撑惯导系统振动耦合问题研究[J].强度与环境,2005.32(2):46-51.
[80]姚建军,付继波.捷联惯导系统振动耦合特性研究[C].首届全国航空航天领域中的力学问题学术研讨会论文集,成都,2004.
[81]R.K Mishra,AMG Pillai,MR Sheshadri,etc.Airborne Electro-Optical Sensor Performance Predictions and Design Consideration[A].SPIE,Vol.1482:138-145.
[82]J.M.Hilkert,M.Bowen,J.Wang.Specification for Image Stabilization Systems[A].SPIE,Vol.1498:24-38.
[83]Edward O.Donnell.Image Steadiness:a critical factor in system performance[A].SPIE,Vol.762:51-56.
[84]张秉华,张守辉.光电成像跟踪系统[M]成都:电子科技大学出版社,2003.
[85]Jean-Baptiste HAUMONE,Jean-Claude VENTURINO,Xavier DENIS.Simplifying the conception of opto-mechanical systems thanks to direct integration of optical design capabilities in mechanical CAD software[A].SPIE,Vol.6034:1-6.
[86]张葆,贾平,黄猛.动载体成像底座无角位移减振器的设计[J].光学技术,2003,29(4):464-466.
[87]张葆.动载体成像振动主动控制技术的研究[D].长春:中国科学院长春光机所博士学位论文,2003.
[88]国防科学技术工业委员会.中华人民共和国国家军用标准:军用设备环境试验方法振动试验[S].GJB 150.16-86,1987:93-164.
[89]Paul Merritt,Jed Donaldson,David O'Brien.Angular Vibration Survey of Various Aircraft[A].SPIE,Vol.5087:35-45.
[90]J.D.Robson,J.W.Roberts.A Theoretical Basis for the Practical Simulation of Random Motions[J].Journal Mechanical Engineering Science,1965,7(2):246-251.
[91]E.A.Meeder.Random-Vibration Analysis[J].Machine Design,1965,7(10):179-184.
[92]Lawrence E.Green.How to Convert Test Specifications for Random Vibration into Measurable Parameters[J].Machine Design,1964,11(3):171-172.
[93]D.DeYoung,S.Baugh,R.Galeeti,etc.Beam control system for an airborne laser radar.SPIE,Vol.3631:311-320.
[94]马佳光.捕获跟踪与瞄准系统的基本技术问题[J].光学工程,1989,3:1-42.
[95]金毅民.瞄准线的几何稳定原理与陀螺配置[J].应用光学,1991,12(2):41-43.
[96]光电捕获跟踪与瞄准技术译文集(第一集)[M].成都:中科院光电技术研究所出版发行,1993.
[97]纪明.多环架光电稳定系统及分析[J].应用光学,1994,15(3):60-64.
[98]任戈.复合轴结构的运动关系分析[J].光电工程,1995,22(6):41-46.
[99]张智永,范大鹏,范世珣.光电稳定跟踪装置的控制系统设计[J].光学 精密工程,2006,14(4):681-688.
[100]毕永利.多框架光电平台控制技术研究[D].长春:中国科学院长春光机所博士学位论文,2003.
[101]王连明.机载光电平台的稳定与跟踪伺服控制[D].长春:中国科学院长春光机所博士学位论文,2002.
[102]Lee,T.H.,Tan,K.K.,Lee.M.W.Variable Structure-Augmented Adaptive Controller for a Gyro-Mirror Line-of-Sight Stabilization Platform[J].Mechatronics,1998,8(1):47-64.
[103]Ge,S.S.Lee,T.H.Zhao,Q.Real-Time Neural Network Control of a Free Gyro Stabilized Mirror System[A].Proceedings of the American Control Conference,1997,2:1076-1080.
[104]Lee,T.H.Nie,J.H.Lee,M.W.Fuzzy Controller with Decoupling for Multivariable Nonlinear Servo-Mechanisms with Application to Real-Time Control of a Passive Line-of-Sight Stabilization System[J].Mechatronics,1997,7(1):83-104.
[105]Marathe,Rajeev.Krishna Moorty,J.A.R.Sule',V.R.H_∞ Control Law for Line-of-Sight Stabilization for Mobile Land Vehicles[J].Optical Engineering,2002,41(11):2935-2944.
[106]Krishna Moorty,J.A.R.Marathe,Rajeev;Babu,Hari.Fuzzy Controller for Line-of-Sight Stabilization Systems[J].Optical Engineering,2004,43(6):1394-1400.
[107]William J,Bigley,Steven P,Tsao,Optimal Motion Stabilization Control of an Electro-Optical Sight System[A].SPIE,Vol.1482:116-120.
[108]J.M.Hilkert,David A.Hullender,Adaptive control system techniques applied to inertial stabilization systems[A].SPIE,Vol.1306:190-206
[109]姜玉宪.伺服系统低速跳动问题[J].自动化学报,1982,8(2):136-144.
[110]刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述[J].系统工程与电子技术,2002,24(2):45-52.
[111]B.Armstrong,P.Dupont,C.C.anudas de Wit.A Survey of Models,Analysis Tools and Compensation Methods for the Control of Machines with Friction[J].Automatica,1994,30(7):1083-1138.
[112]Dowson D.History of Tribology[M].London:Longman Ltd,1966.
[113]刘金琨.先进PID控制MATLAB仿真(第2版)[M].北京:电子工业出版社,2004.
[114]Dauh P.A Solid Friction Model[C].Aerospace Corp.,1968.
[115]Canudas De Wit C.A New Model for Control of Systems with Friction[J].IEEE Transaction on Automatic Control,1995,40(3):419-425.
[116]Canudas De Wit C.Comment on A New Model for Control of Systems with Friction[J].IEEE Transaction on Automatic Control,1998,43(8):1189-1496.
[117]Canudas De Wit C.,E Lischinsky.Adaptive Friction Compensation with Partially Known Dynamic Friction Model[A].Int.Journal Of Adaptive Control and Signal Processing,1997,11:65-80.
[118]B.Friedland,Y.J.Park.Adaptive Friction Compensation[J].IEEE Transaction.on Automatic Control,1992,37(10):1609-1612.
[119]Armstron B,Neevel D,Kusik T.New Result in NPID Control:Tracking,Integral Control,Friction Compensation and Experimental Result[C].In Proceedings of the 1999 IEEE International Conference on Robotics &Automation,1999:837-842.
[120]Tung E D,Anwar G,Tomizuka M.Low Velocity Friction Compensation and Feedforward Solution Based on Repetitive Control[J].ASME Journal of Dynamic Systems,Measurement and Control,1993,11:279-284.
[121]Kim Y H,Lewis F L.Reinforcement Adaptive Learning Neural Network Based Friction Compensation for High Speed and Precision[C].In Proceedings of the 37th IEEE Conference on Decision & Control,1998:1064-1069.
[122]Teeter J T,Chow M Y,Jame J.A Novel Fuzzy Friction Compensation Approach to Improve the Performance of a DC Motor Control System[J].IEEE Transaction on Industrial Electronics,1996,43(1):113-120.
[123]刘又午,刘丽冰,赵小松等.数控机床误差补偿技术研究[J].中国机械工程,1998,9(12):48-52.
[124]W.Knapp.Test of three-dimension uncertainty of machine tools and measuring machines and its relation to the machine error[J].Ann.CIRP,1983,32(1):459-464.
[125]D.L.Leete.Automatic compensation of alignment errors in machine-tool[J].Int.J.Mace Tools.Des.Res,1961,1:293-324.
[126]D.French,S.H.Humphries.Compensation for backlash and alignment errors in a numerically controlled machine-tool by a digital computer program[J].M.T.D.R.Conf.Proc,1967,8:707-726.
[127]Schultschik R.The Components of Volumetric Metrology[J].Annals of the CIRP,1977,26(1):223-228.
[128]Hocken R.,etal.Three Dimensional Metrology[J].Annals of the CIRP,1977,26(1):403-408.
[129]A.K.Elshchnawy,I.Ham.Performance improvement of in coordinate measuring machines by error[J].Manufacturing Systems,1989,9(2):151-158.
[130]John C.Ziegert,Prashant Kalle.Error Compensation in Machine Tools:A Neural Network Approach[J].Journal of Intelligent Manufacture,1994,5:143-151.
[131]Mahbubur Rahman,etc.Modelling,measurement and error compensation of multi-axis machines tools.Part Ⅰ:theory[J].International Journal of Machine Tools & Manufacture,2000,40:1535-1546.
[132]杨建国,潘志宏,薛秉源.数控机床几何和热误差综合数学模型及实时补偿[J].机械设计与制造,1998,5:31-32.
[133]黄田,李亚,李思维等.一种三自由度并联机构几何误差建模、灵敏度分析及装配工艺设计[J].中国科学E辑,2002,32(5):628-635.
[134]休斯敦,刘又午.多体系统动力学(上、下册)[M].天津:天津大学出版社,1987.
[135]刘又午,刘丽冰,赵小松等.数控机床误差补偿技术研究[J].中国机械工程,1998,9(12):48-52.
[136]刘又午,章青等.数控机床误差补偿技术及应用[J].制造技术与机床.(连载),1988,12-1999,6.
[137]郑德志.超精密车削加工误差源诊断技术的研究[D].哈尔滨工业大学博士学位论文,2002.
[138]Poyner.A.D.,Montgomery.J.W.MMT Pointing and tracking[A].SPIE,Vol.628:9-15.
[139]Scott Keitzer,James Kimbrell,David Greenwald.Deterministic Errors in Pointing And Tracking System Ⅰ:Identification And Correction of Static Errors[A].SPIE,Vol.1482:406-414.
[140]James Kimbrell,David Greenwald.Deterministic Errors in Pointing and Tracking System Ⅱ:Identification And Correction of Dynamic Errors.SPIE.Vol.1482:415-424.
[141]金光,倪伟.星体弧长法标定光电经纬仪指向精度[J].光学精密工程,1999,7(4):91-95.
[142]Jerome W.Fisk,Arthur K.Rue.Confidence Limits for the Pointing Error of Gimbaled Sensors[J].IEEE Transaction on Aerospace and Electronic Systems,1966,AES-2(6):648-654.
[143]Arthur K.Rue.Calibration of Precision Gimbaled Pointing Systems[J].IEEE Transaction on Aerospace and Electronic Systems.1970,AES-6(5):697-706.
[144]James M.B.Royalty.Gimbal rate loop electrical noise:how much can you stand?[A].SPIE,Vol.1950:234-241.
[145]李岩,张智永,范大鹏.陀螺安装误差影响视轴稳定平台精度的机理研究[J].光电工程,2007,34(9):10-15.
[146]杨功流,杨军.陀螺仪安装误差的测量方法研究[J].华中科技大学学报(自然科学版),2003,31(7):78-80.
[147]David S.Anderson.International Space Station rate gyro alignment estimation[A].SPIE,Vol.5420:11-21.
[148]纪明.反射镜稳定系统的仿真与误差分析.应用光学,2000,21(5):19-22.
[149]Louis A.DeMore,Robert A.Peterson,Louis B.Conley,etc.Design Study for a High Accuracy Three-axis Test Table[J].AIAA Guidance and Control Conference,1985,1893:318-333.
[150]周锐,杨涤,王恒霖.飞行仿真转台指向误差分析及误差分配[J].航天控制,1996,3:66-72.
[151]C.Or,R.L.Wong,R.L.Atmadja,etc.Performance Evaluation of a Precision Pointing Payload[A].AIAA Guidance,Navigation,and Control Conference and Exhibit,2002,8:1-5.
[152]Oliver E.Drummond.Methodologies for Performance Evaluation of Multitarget Multisensor Tracking[A].SPIE,Vol.3809:355-369.
[153]刘桂雄,阎华,郑时雄等.熵概念的发展及其在精度理论中的应用[J].华南理工大学学报(自然科学版),2003,27(10):16-20.
[154]李龙根,刘桂雄.基于熵概念的现代精度评价方法研究[J].佛山科学技术学院学报(自然科学版),2003,21(3):21-24.
[155]Liu Gui xiong,Li Long geng,Luo Yi.Robot Pose Accuracy Theory Based on Entropy Uncertainty[J].Proceedings of the International symposium on precision mechanical measurement,2002,4:442-446.
[156]李海平,钟瑞麟,魏岳等.导弹末制导精度分析的协方差方法研究[J].战术导弹技术,2004,1(1):49-54.
[157]Chih-Young Lin,Wei-Hsin Huang,Ming-Chang Jeng,etc.Study of an Assembly Tolerance Allocation Model Based on Monte Carlo Simulation[J].Journal of Materials Processing Technology,1997,70:9-16.
[158]Christoper C.Yang,V.N.Achutha Naikan.Optimum Design of Component Tolerances of Assemblies Using Constraint Networks[J].International Journal of Production Economics,2003,84:149-163.
[159]Stephane Caro,Fouad Bennis,Philippe Wenger.Tolerance Synthesis of Mechanisms:A Robust Design Approach[J].Transactions of the ASME,2005,127:86-94.
[160]Wen Yuh Jywe,Chien Hong.Verification and Evaluation Method for Volumetric and Position Errors of CNC Machine Tools[J].International Journal of Machine Tools & Manufacture,2000,40(13):1899-1911.
[161]Robert L.Meeks.Improving Telescope Mechanical Errors Estimates Using Pointing Data[D].Ph.D.Dissertation,Colorado State University of Arizona,2003.
[162]宋燕平.机构机械精度检测的矢量方法[J].空间电子技术,2004,1:55-58.
[163]刘正云,苏建刚.瞄准线稳定精度的室内测试技术[J].光学精密工程,1999,7(5):95-99.
[164]张安锋.光电稳定系统的稳定精度测试研究[D].长春理工大学硕士论文,2003.
[165]谷素梅.大型光学惯性稳定跟踪仪器稳像精度测试系统原理方案探讨[J].应用光学,1999,19(6):5-8.
[166]刘正云.PSD用于稳像仪稳像精度测试方法探讨[J].应用光学,1995,16(1):50-52.
[167]刘昱,韩德一.惯性平台水平角误差测量方法的研究[J].航空精密制造技术,2003,39(3):40-42.
[168]Michael A.Borrello,Mohammed S.Santina,Thomas H.Weight.Jitter stabilization experiment for a precision pointing optical system[A].SPIE,Vol.641:94-101.
[169]陈秋林,薛永琪.从遥感图像估算遥感平台的稳定精度[J].红外与毫米波学报,2002,21(1):19-22.
[170]陶建峰,王旭永,刘成良.五轴飞行仿真转台及其关键技术研究[J].机床与液压,2006.6:78-82.
[171]张波,姬琪,沈湘衡.检测光电跟踪测量设备的激光模拟空间目标[J].光电子激光,2004,14(3):324-326.
[172]周维虎,费业泰,李百源等.激光跟踪仪几何误差修正[J].仪器仪表学报,2002,23(1):56-63.
[173]陈文建,郑宝忠,杨建莉,多光轴多光谱自动校准技术[J].应用光学,2004,25(1):60-64.
[174]Shalom Wilk,Menachem Goldmunz,Nachum Shahaf,etc.Line-of-sight alignment of a multi-sensor system[A].SPIE,Vol.1442:140-147.
[175]孙方金,陈世杰.精密轴系回转精度测试[M].哈尔滨:哈尔滨工业大学出版社,1997.
[176]范凯峰,田赤军,牛立等.惯性平台中成对角接触球轴承的应用与研究[J].中国惯性技术学报,2005,13(3):1-3.
[177]杨锡和.一种新型雷达天线方位转台[J].雷达与对抗,2004.2:63-64.
[178]K.Peter Heiland.Recent Advancements in Passive and Active Vibration Control Systems[A].SPIE,Vol.1619:22-33.
[179]Aria Alasty,Hasan Abedi.Kinematic and Dynamic Sensitivity Analysis of a Three-Axis Rotary Table[A].Proceedings of 2003 IEEE Conference on Control Applications,2:1147-1152.
[180]金毅民,陶忠,孙治家.轴系运动的数学仿真与轴系误差[J].应用光学,2003,24(B08):37-49.
[181]Richard L.Pio.Euler Angle Transformations[J].Transactions on Automatic Control,1966,AC-11(4):707-715.
[182]贾书惠.刚体动力学[M].北京:高等教育出版社,1987.
[183]James C.Debruin,Jim Royyalty,Marty Wand,etc.Feedforward stabilization testbed[A].SPIE,Vol.2739:204-214.
[184]D.A.Haessig Jr.,B.Friedland.On the modeling and simulation of friction[J].ASME Journal of Dynamics System,Measurement and Control,1991,3:354-362.
[185]L(o|¨)rinc Matrton,Bela Lantos.Modelling,Identification,and Compensation of Stick-Slip Friction[J].IEEE Transations on Industrial Electronics,2007,54(1):511-521.
[186]Armstrong B,Amin B.PID Control in the Presence of Static Frction:A Comparison of Algebraic and Describing Function Analysis[J].Automatica,1996,32(5):679-692.
[187]Chun-Liang Lin,Yi-Hsing Hsiao.control for disturbance torque rejection in seeker stabilizing loop[J].IEEE Transactions on Control Systems Technology,2001,9(1):108-121.
[188]Dino Sciulli,Daniel J.Inman.Comparison of Single- and Two-Degree-of-Freedom Models for Passive and Active Vibration Isolation Design[A].SPIE,Vol.2720:293-302.
[189]Darren R.Laughlin,Mark A.Hawes,John P.Blackburn,etc.A Low-Cost Alternative to Gyroscope for Tracking System Stabilization[A].SPIE,Vol.1304:2-13.
[190]李晓彤.几何光学和光学设计[M].杭州:浙江大学出版社,1997.
[191]刘钧,高明.光学设计[M].西安:西北工业大学出版社,2006.
[192]粟时平.多轴数控机床精度建模与误差补偿方法研究[D].国防科学技术大学博士学位论文,2002.
[193]李书和,张奕群,杨世民.多轴机床空间误差的一般模型[J].仪器仪表学报,1997,18(4):364-367.
[194]李岩,范大鹏.基于多体系统运动学理论的三轴转台装配误差建模分析[J].兵工学报,2007,28(8):981-987.
[195]曲智勇,姚郁.仿真转台误差分析及其误差建模[J].计算机仿真,2006,23(3):301-304.
[196]Unification document Me.Axis of rotation[S].Annals of CIRP,1976,2.
[197]任顺清,陈世杰,李玉华.论瞬时轴线垂直度、平均回转轴线垂直度与Wobble的关系[J].中国惯性技术学报,2002,2.
[198]国防科学技术工业委员会.中华人民共和国国家军用标准:惯性技术测试设备主要性能测试方法[S].GJB1801-93.
[199]王永年,祝梁生,孙隆和.头盔显示/瞄准系统[M].北京:国防工业出版社,1994.
[200]楼宇希.雷达精度分析[M].北京:国防工业出版社,1979.
[201]J.S.贝达特,A.G.皮尔索.凌福根译.随机数据分析方法[M].北京:国防工业出版社,1976.
[202]徐钟济.蒙特卡罗方法.上海:上海科学技术出版社[M],1985.
[203]吴昭同,杨将新等.计算机辅助公差优化设计[M].浙江:浙江大学出版社,1999.
[204]李纯甫.统计公差与机械精度.北京:机械工业出版社,1990.
[205]滚动轴承 综合样本 日本精工株式会社.1997.
[206]http://www.faro.com
[207]http://www.apisensor.com
[208]李广云.激光跟踪测量系统的原理及在车身在线检测中的应用[J].上海计量测试,2002,29(4):14-18.
[209]孙大许,马强,闫勇刚等.激光跟踪测量系统原理及在制造业中的应用[J].机械,2005,32(8):56.
[210]毛英泰.误差理论与精度分析[M].北京:国防工业出版社,1982.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |