舰载光电干扰伺服控制系统研究
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摘要
本文针对舰载无源／光电干扰系统对抗反舰导弹的问题，阐述了大中型舰艇光电干扰伺服控制表统的组成结构、工作原理及应用前景。
舰载光电干扰伺服控制系统采用机电式稳定平台结构。转台驱动系统采用电机扩大机——直流电动机系统。伺服系统控制方案采用闭环系统来实现。同时为实现1.8秒调舷90°的响应，并调舷定位在精确方位上(误差在±20°之内)，伺服系统以线性——非线性系统来实现。即在大角度失调的情况下，伺服系统是一个非线性系统；而在小角度情况下为一个线性系统，保证伺服系统的稳定性。
文中重点分析了伺服系统的控制技术和控制算法，详细介绍了稳定平台计算机控制系统的软、硬件设计以及设计计算。最后给出控制系统的计算机仿真结果和系统的可靠性设计。其特点是：快速反应、高精度定位和稳定性高。
Aiming at the problem that the system of passive interference and photoelectricity counterdevice antagonizes the missile of resisting naval vessel, the paper expatiates main structure, work principle and used foreground speediness reaction capability of servocontrol system of photoelectricity interference applied to capital ship and medium-sized ship.
The servocontrol system of photoelectricity interference applied to capital ship and medium-sized ship adopts mechanical-electronic flat structure. Whirlabout flat drive system adopts direct current electromotor and servo system is closed loop. The system carries out the response of adjusting shipboard 90?within 1.8 seconds and orientates accurate position simultaneously ( the error is within ??). Servo system adopts linear and non-linear system. Namely servo system is non-linear system under the condition of large-angle maladjustment, and linear system under the condition of small-angle maladjustment, thereby guaranteeing the system's stability.
In this paper, it analyses chiefly control technology and control arithmetic of servo system, and introduces detailedly software design, hardware design and parameter calculate. Debugging results of the computer control system and reliability design of the system are provided ultimately. The system's features are speediness reaction, high precision orientation and high stability.
舰载光电干扰伺服控制系统采用机电式稳定平台结构。转台驱动系统采用电机扩大机——直流电动机系统。伺服系统控制方案采用闭环系统来实现。同时为实现1.8秒调舷90°的响应，并调舷定位在精确方位上(误差在±20°之内)，伺服系统以线性——非线性系统来实现。即在大角度失调的情况下，伺服系统是一个非线性系统；而在小角度情况下为一个线性系统，保证伺服系统的稳定性。
文中重点分析了伺服系统的控制技术和控制算法，详细介绍了稳定平台计算机控制系统的软、硬件设计以及设计计算。最后给出控制系统的计算机仿真结果和系统的可靠性设计。其特点是：快速反应、高精度定位和稳定性高。
Aiming at the problem that the system of passive interference and photoelectricity counterdevice antagonizes the missile of resisting naval vessel, the paper expatiates main structure, work principle and used foreground speediness reaction capability of servocontrol system of photoelectricity interference applied to capital ship and medium-sized ship.
The servocontrol system of photoelectricity interference applied to capital ship and medium-sized ship adopts mechanical-electronic flat structure. Whirlabout flat drive system adopts direct current electromotor and servo system is closed loop. The system carries out the response of adjusting shipboard 90?within 1.8 seconds and orientates accurate position simultaneously ( the error is within ??). Servo system adopts linear and non-linear system. Namely servo system is non-linear system under the condition of large-angle maladjustment, and linear system under the condition of small-angle maladjustment, thereby guaranteeing the system's stability.
In this paper, it analyses chiefly control technology and control arithmetic of servo system, and introduces detailedly software design, hardware design and parameter calculate. Debugging results of the computer control system and reliability design of the system are provided ultimately. The system's features are speediness reaction, high precision orientation and high stability.
引文
[1]．刘明俊，杨壮志，张拥军等．计算机控制原理与技术．国防科技大学出版社．1999．
[2]．何克忠，郝忠恕．计算机控制系统．清华大学出版社．1988．
[3]．钱升．计算机控制系统的理论和设计．湖南大学出版社．1989．
[4]．陈兆宽．计算机过程控制软件设计．电子工业出版社．1993．
[5]．李士勇．模糊控制和智能控制理论与应用．哈尔滨工业大学出版社．1990．
[6]．周航慈．单片机应用程序设计技术．北京航空航天大学出版社．1991．
[7]．李秉操．单片机接口技术及在工业控制系统中的应用．陕西电子编辑部．1991．
[8]. Steven T.Jenkins, J.M.Hilkert. Line of sight Stabilization Using Image Motion Compensation. SPIE, 1989,1111.
[9]．陈永甫．555集成电路应用800例．电子工业出版社．1992．
[10]．郭富强，于波，汪叔华．陀螺稳定装置及其应用．西安：西北工业大学出版社，1995．
[11]. Hongliu Du, Satish S.Nair. Modeling and Compensation of Low-Velocity Friction with Bounds. IEEE Trans. on Contron Systems, 1999,7(1).
[12]. Jayesh Amin. Implementation of a Friction Estimation and Compensation Technique. IEEE Trans. on Contron Systems, 1997,8.
[13]. Slobodan N.Vukosavic. Suppression of Torsional Oscillations in a High-Performance Speed servo Drive. IEEE Trans. on Industry Electronics, 1998,45(1).
[14]. Marcelo C.Algrain, Douglas E.Ehlers. Suppression of Gyroscope Noise Effect in Pointing and Tracking System. SPIE, 1994,2221.
[15]. Bo Li. Nonlinear Induced Disturbance Rejection in Inertial Stabilization systema. SPIE, 1996,2736.
[16]. Bo Li. Self-tuning Controller for Nonlinear Inertial Stabilization Systems. SPIE, 1996,2739.
[17]．石红生，卢广山．一种新型状态观测器在陀螺稳定平台中的应用．电光与控制，1999，1．
[18]．王合龙，朱培申，姜世发．陀螺稳定平台框架伺服系统变结构控制器的设计和仿真．电光与控制．1998，2．
[19]. Willian J.Bigley, Steven P.Tsao. Optimal Motion Stabilization Control of an Electro-Optical Sight System. SPIE, 1989,1111.
[20]．吴凤高．天线座结构设计．西北电讯工程学院出版社．1986．
[21]．胡崇岳．现代交流调速技术．机械工业出版社．
[22]．才家刚．电机试验手册．中国电力出版社．
[23]．冯国涌．现代伺服系统的分析与设计．机械工业出版社．
[24]．赵守忠，周建民．控制理论设计计算实例及题选．中国科技大学出版社．
[25]．马之行，敬刚．机电一体化技术．四川科技出版社．
[26]．位置伺服系统的一类非线性PID调节器设计．电气自动化．2000年第1期．
[27]．电压矢量控制PWM波的一种实时生成方法．电气自动化．2000年第2期．
[28]．李发海．交流电机控制系统的现状与发展动向．电工技术杂志．1993年第1期．
[29]．吴元标．交流伺服电动机的发展动向．电工技术杂志．1991年第5期．
[30]．高潮．电力电子器件的现状与发展动向．电气传动．1994年第6期．
[31]．陈隆昌，陈彼艳．控制电机．西安电子科技大学出版社
[32]．许镇琳．无刷直流伺服电机换向转矩脉动的分析和消除．电气传动．1994年第5期．
[33]．高先科．顺处理控制的高精度测速．机械工业自动化．1993年第1期．
[34]．陈志杰．交流伺服电机高精度转速估计．电气传动．1993年第6期．
[35]．王连明．机载光电平台的稳定与跟踪伺服控制技术研究：[博士学位论文]．长春：中国科学院长春光学精密机械与物理研究所．2002，1．
[36]．李杰．中小型舰载无源干扰发射装置及伺服系统．光电对抗与无源干扰．1997年第4期．
[37]. N.Matsui, H.Ohashi. DSP—Based Adaptive Control of a Brushless Motor.
[38]. T.G.Habetler. A Space Vector—Based Rectifier Regulator for AC/DC/AC Converters.
[39]. L.Malesani. A Novel Hyateresis Control Method for Current—Controlled Voltage—Source PWM Inverters With Constant Medulation Frequency.
[40]. R.B.Sepe, J.H.Lang. Real—Time Adaptive Control of the Permenent—Magnet Synchronous Motor.
[41]. M.Fadel, B. de Fornel. Torque Control of a Synchronous Motor With Field Using a State Feedlack.
[42]. P.Pillay, R.Krishman. An Investigation Into the Torque Behavior of A Brushless DC Motor Drive.
[43]. N.Hemati, M.C.Lcu. A Complete Model Characterization of Brushless de Motor.
[44]. G.Pfaff, A.Vick. Design and Experimental Results of Brushless AC Servo—Drive.
[45]. T.M.Jahns, R.C.Becerra. Integrated Current Regulation for a Brushless ECM Drive.
[46]. J.D.L.Ree, N.Boules. Torque Production in Permanent—Magnet Synchronous Motor.
[47]. D.R.Wilsion. Modern Practice In Servo Design. Perpamon Press. 1970.
[2]．何克忠，郝忠恕．计算机控制系统．清华大学出版社．1988．
[3]．钱升．计算机控制系统的理论和设计．湖南大学出版社．1989．
[4]．陈兆宽．计算机过程控制软件设计．电子工业出版社．1993．
[5]．李士勇．模糊控制和智能控制理论与应用．哈尔滨工业大学出版社．1990．
[6]．周航慈．单片机应用程序设计技术．北京航空航天大学出版社．1991．
[7]．李秉操．单片机接口技术及在工业控制系统中的应用．陕西电子编辑部．1991．
[8]. Steven T.Jenkins, J.M.Hilkert. Line of sight Stabilization Using Image Motion Compensation. SPIE, 1989,1111.
[9]．陈永甫．555集成电路应用800例．电子工业出版社．1992．
[10]．郭富强，于波，汪叔华．陀螺稳定装置及其应用．西安：西北工业大学出版社，1995．
[11]. Hongliu Du, Satish S.Nair. Modeling and Compensation of Low-Velocity Friction with Bounds. IEEE Trans. on Contron Systems, 1999,7(1).
[12]. Jayesh Amin. Implementation of a Friction Estimation and Compensation Technique. IEEE Trans. on Contron Systems, 1997,8.
[13]. Slobodan N.Vukosavic. Suppression of Torsional Oscillations in a High-Performance Speed servo Drive. IEEE Trans. on Industry Electronics, 1998,45(1).
[14]. Marcelo C.Algrain, Douglas E.Ehlers. Suppression of Gyroscope Noise Effect in Pointing and Tracking System. SPIE, 1994,2221.
[15]. Bo Li. Nonlinear Induced Disturbance Rejection in Inertial Stabilization systema. SPIE, 1996,2736.
[16]. Bo Li. Self-tuning Controller for Nonlinear Inertial Stabilization Systems. SPIE, 1996,2739.
[17]．石红生，卢广山．一种新型状态观测器在陀螺稳定平台中的应用．电光与控制，1999，1．
[18]．王合龙，朱培申，姜世发．陀螺稳定平台框架伺服系统变结构控制器的设计和仿真．电光与控制．1998，2．
[19]. Willian J.Bigley, Steven P.Tsao. Optimal Motion Stabilization Control of an Electro-Optical Sight System. SPIE, 1989,1111.
[20]．吴凤高．天线座结构设计．西北电讯工程学院出版社．1986．
[21]．胡崇岳．现代交流调速技术．机械工业出版社．
[22]．才家刚．电机试验手册．中国电力出版社．
[23]．冯国涌．现代伺服系统的分析与设计．机械工业出版社．
[24]．赵守忠，周建民．控制理论设计计算实例及题选．中国科技大学出版社．
[25]．马之行，敬刚．机电一体化技术．四川科技出版社．
[26]．位置伺服系统的一类非线性PID调节器设计．电气自动化．2000年第1期．
[27]．电压矢量控制PWM波的一种实时生成方法．电气自动化．2000年第2期．
[28]．李发海．交流电机控制系统的现状与发展动向．电工技术杂志．1993年第1期．
[29]．吴元标．交流伺服电动机的发展动向．电工技术杂志．1991年第5期．
[30]．高潮．电力电子器件的现状与发展动向．电气传动．1994年第6期．
[31]．陈隆昌，陈彼艳．控制电机．西安电子科技大学出版社
[32]．许镇琳．无刷直流伺服电机换向转矩脉动的分析和消除．电气传动．1994年第5期．
[33]．高先科．顺处理控制的高精度测速．机械工业自动化．1993年第1期．
[34]．陈志杰．交流伺服电机高精度转速估计．电气传动．1993年第6期．
[35]．王连明．机载光电平台的稳定与跟踪伺服控制技术研究：[博士学位论文]．长春：中国科学院长春光学精密机械与物理研究所．2002，1．
[36]．李杰．中小型舰载无源干扰发射装置及伺服系统．光电对抗与无源干扰．1997年第4期．
[37]. N.Matsui, H.Ohashi. DSP—Based Adaptive Control of a Brushless Motor.
[38]. T.G.Habetler. A Space Vector—Based Rectifier Regulator for AC/DC/AC Converters.
[39]. L.Malesani. A Novel Hyateresis Control Method for Current—Controlled Voltage—Source PWM Inverters With Constant Medulation Frequency.
[40]. R.B.Sepe, J.H.Lang. Real—Time Adaptive Control of the Permenent—Magnet Synchronous Motor.
[41]. M.Fadel, B. de Fornel. Torque Control of a Synchronous Motor With Field Using a State Feedlack.
[42]. P.Pillay, R.Krishman. An Investigation Into the Torque Behavior of A Brushless DC Motor Drive.
[43]. N.Hemati, M.C.Lcu. A Complete Model Characterization of Brushless de Motor.
[44]. G.Pfaff, A.Vick. Design and Experimental Results of Brushless AC Servo—Drive.
[45]. T.M.Jahns, R.C.Becerra. Integrated Current Regulation for a Brushless ECM Drive.
[46]. J.D.L.Ree, N.Boules. Torque Production in Permanent—Magnet Synchronous Motor.
[47]. D.R.Wilsion. Modern Practice In Servo Design. Perpamon Press. 1970.