基于自抗扰控制的无人机光电载荷视轴稳定技术
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摘要
无人机系统重要的侦察设备是光电载荷。为了使光电载荷获得清晰的图像,提出了新的控制策略,以抑制视轴的扰动。首先,以两轴两框架光电载荷为研究对象,分析了其结构和工作原理;然后,分析了影响视轴稳定精度的扰动因素并将其分类;接着,提出了双速度环控制策略,设计了自抗扰稳定控制器;实验研究表明,采用该视轴稳定技术的光电载荷,其扰动抑制的效果能够达到技术指标要求。
The opto-electronic load is an important reconnaissance equipment of the UAV system. To obtain a clear image a new opto-electronic load control strategy is proposed for inhibiting the disturbance of visual axis. First the structure and working principle of the two-axis and two-frame opto-electronic load are introduced. Then analysis and classification are made to the disturbance factors affecting the stability of the visual axis. The dual rate-loop control strategy and an active disturbance rejection controller are applied on the opto-electronic load. The experimental results show that the opto-electronic load using the proposed lineof-sight stabilization strategy can satisfy the technical requirements of disturbance rejection.
The opto-electronic load is an important reconnaissance equipment of the UAV system. To obtain a clear image a new opto-electronic load control strategy is proposed for inhibiting the disturbance of visual axis. First the structure and working principle of the two-axis and two-frame opto-electronic load are introduced. Then analysis and classification are made to the disturbance factors affecting the stability of the visual axis. The dual rate-loop control strategy and an active disturbance rejection controller are applied on the opto-electronic load. The experimental results show that the opto-electronic load using the proposed lineof-sight stabilization strategy can satisfy the technical requirements of disturbance rejection.
引文
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[13] WU DCHEN K. Design and analysis of precision active disturbance rejection control for noncircular turning process[J]. IEEE Transactions on Industrial Electronics200956(7):2746-2753.
[2]李贤涛.航空光电稳定平台扰动抑制技术的研究[D].长春:中国科学院长春光学精密机械与物理研究所,2014.
[3]张润丰.陀螺稳定吊舱控制系统研究[D].哈尔滨:哈尔滨工业大学,2014.
[4]喻智.机载吊舱稳定平台的控制方法研究及DSP实现[D].西安:中国科学院西安光学精密机械研究所,2013.
[5]陆建山.水面武器操瞄系统稳定平台姿态测量及控制技术研究[D].南京:南京理工大学,2013.
[6]韩京清.自抗扰控制技术[J].前沿科学,2007,1(1):24-31.
[7]孙金秋,游有鹏.基于线性自抗扰控制的永磁同步电机调速系统[J].现代电子技术,2014,37(16):152-155.
[8]刘清.基于自抗扰控制器的永磁同步电机伺服系统控制策略的研究及实现[D].天津:天津大学,2011.
[9]郑春艳,张红刚,冯兴伟,等.机载光电稳定平台自抗扰控制研究[J].电光与控制,2017,24(2):51-54.
[10]邝平,李军,雷阳,等.高精度稳定平台伺服系统的自抗扰控制[J].工业仪表与自动化装置,2016(1):14-18.
[11] LI JREN H PZHONG Y R. Robust speed control of induction motor drives using first-order auto-disturbance rejection controllers[J]. IEEE Transactions on Industry Applications201551(1):712-720.
[12] ZHENG QDONG L LLEE D Het al. Active disturbance rejection control for MEMS gyroscopes[J]. IEEE Transactions on Control Systems Technology200917(6):1432-1438.
[13] WU DCHEN K. Design and analysis of precision active disturbance rejection control for noncircular turning process[J]. IEEE Transactions on Industrial Electronics200956(7):2746-2753.