基于开环光纤陀螺控制的无人作战平台稳定技术研究
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摘要
惯性稳定运动平台是无人作战系统的核心,对运动平台的姿态进行惯性稳定控制是发展各种类型无人作战系统的基础,因此,研究无人作战平台惯性稳定技术具有重要的意义。本文围绕无人作战平台惯性稳定控制的共性关键技术,开展基于开环光纤陀螺的无人作战平台惯性稳定技术的研究。
论文在综合分析国外无人作战平台技术发展的基础上,根据实际应用需求,进行了平台总体方案的设计、系统建模和理论分析,为具体方案的实施提供了理论依据;根据无人作战平台姿态控制的综合性能指标要求,选择开环光纤陀螺作为核心惯性测量元件,设计了基于开环光纤陀螺的高性能角位移反馈控制传感器;进行了开环光纤陀螺性能改进,通过热力学结构优化设计改善了陀螺温度特性;针对实际系统存在的变参量和非线性的特点,采用自抗扰控制技术实现了系统的稳定控制;在综合考虑平台抗后坐力冲击能力、电机驱动能力以及系统可控性等多种因素后,进行了平台结构的优化设计,并完成了系统的研制;实验测试结果表明系统性能达到了预定指标要求,这些工作为无人作战平台的进一步发展奠定了基础。
本论文的主要成果和创新性如下:
1.设计了基于开环光纤陀螺的角位移反馈控制传感器,实验证明该新型传感器可以同时实现角位移测量和电机反馈控制。
2.将自抗扰控制技术成功运用于无人作战平台的稳定控制,通过仿真分析与实验在线调试相结合的办法解决了自抗扰控制器控制参数整定的问题。
3.采用有限元分析方法对无人作战平台的机械结构进行了强度和刚度校核,在保证平台结构强度和刚度的条件下对平台结构进行了轻量化设计。
4.成功设计和制作了国内首台用于无人作战系统的自动武器站工程样机,实验测试结果显示平台方位轴稳定瞄准精度为22.86角秒,俯仰轴稳定瞄准精度为28.98角秒,稳定瞄准精度达到国外同类型自动武器站的指标要求。
Stability of inertial motion platform is the core of unmanned combat system. Thus inertial attitude of the moving platform stability control is the basis for the development of all types of unmanned combat systems. The study on unmanned combat platform inertial stabilization has great significance. The thesis focuses on the common key technologies of unmanned combat platform inertial stability control, which is based on open-loop fiber optic gyroscope.
Scheme design, system modeling and theoretical analysis are finished based on the comprehensive analysis of foreign unmanned combat platform technology and the practical application of performance requirements. It provides a theoretical basis for the implementation. According to the comprehensive performance requirements of unmanned combat platform attitude control, open-loop fiber optic gyro is chose as a core inertial sensing component. A high-performance angular displacement feedback control sensor based on open-loop fiber optic gyroscope is designed. Temperature characteristics of the fiber gyroscope are improved by thermodynamic optimization. According to variable parameters and nonlinear characteristics of the system, stability control of the system is realized through the active disturbance rejection control technology. Considering the impact of platform anti-recoil ability, motor drive ability and the controllability, the design of the platform structure is optimized and the development of the system is completed. The test results show that the system performance achieves the goal of the design. These works have laid the foundation for further development of unmanned combat system.
The main results and innovation of this thesis are as follows:
1. A novel angular displacement feedback control sensor based on open-loop fiber optic gyroscope is designed. Experiment shows that this new sensor can measure the angular displacement and achieve feedback control of the motor at the same time.
2. Disturbance rejection control techniques have been successfully used for the stability control of the unmanned combat platform. The parameter tuning of disturbance rejection controller have been solved by simulation and experiment online debugging.
3. The strength and stiffness of the unmanned combat platform mechanical structure is verified by finite element method. The structure of the platform is lightweight redesigned under the conditions of ensuring the structural strength and stiffness.
4. Domestic first engineering prototype of automatic weapons station for unmanned combat system is successfully designed and developed. Experimental result shows that the stability accuracy of azimuth-axis is 22.86 arc-seconds and the pitch-axis stability accuracy is 28.98 arc-seconds, which satisfy the demand of similar foreign automatic weapons stations.
论文在综合分析国外无人作战平台技术发展的基础上,根据实际应用需求,进行了平台总体方案的设计、系统建模和理论分析,为具体方案的实施提供了理论依据;根据无人作战平台姿态控制的综合性能指标要求,选择开环光纤陀螺作为核心惯性测量元件,设计了基于开环光纤陀螺的高性能角位移反馈控制传感器;进行了开环光纤陀螺性能改进,通过热力学结构优化设计改善了陀螺温度特性;针对实际系统存在的变参量和非线性的特点,采用自抗扰控制技术实现了系统的稳定控制;在综合考虑平台抗后坐力冲击能力、电机驱动能力以及系统可控性等多种因素后,进行了平台结构的优化设计,并完成了系统的研制;实验测试结果表明系统性能达到了预定指标要求,这些工作为无人作战平台的进一步发展奠定了基础。
本论文的主要成果和创新性如下:
1.设计了基于开环光纤陀螺的角位移反馈控制传感器,实验证明该新型传感器可以同时实现角位移测量和电机反馈控制。
2.将自抗扰控制技术成功运用于无人作战平台的稳定控制,通过仿真分析与实验在线调试相结合的办法解决了自抗扰控制器控制参数整定的问题。
3.采用有限元分析方法对无人作战平台的机械结构进行了强度和刚度校核,在保证平台结构强度和刚度的条件下对平台结构进行了轻量化设计。
4.成功设计和制作了国内首台用于无人作战系统的自动武器站工程样机,实验测试结果显示平台方位轴稳定瞄准精度为22.86角秒,俯仰轴稳定瞄准精度为28.98角秒,稳定瞄准精度达到国外同类型自动武器站的指标要求。
Stability of inertial motion platform is the core of unmanned combat system. Thus inertial attitude of the moving platform stability control is the basis for the development of all types of unmanned combat systems. The study on unmanned combat platform inertial stabilization has great significance. The thesis focuses on the common key technologies of unmanned combat platform inertial stability control, which is based on open-loop fiber optic gyroscope.
Scheme design, system modeling and theoretical analysis are finished based on the comprehensive analysis of foreign unmanned combat platform technology and the practical application of performance requirements. It provides a theoretical basis for the implementation. According to the comprehensive performance requirements of unmanned combat platform attitude control, open-loop fiber optic gyro is chose as a core inertial sensing component. A high-performance angular displacement feedback control sensor based on open-loop fiber optic gyroscope is designed. Temperature characteristics of the fiber gyroscope are improved by thermodynamic optimization. According to variable parameters and nonlinear characteristics of the system, stability control of the system is realized through the active disturbance rejection control technology. Considering the impact of platform anti-recoil ability, motor drive ability and the controllability, the design of the platform structure is optimized and the development of the system is completed. The test results show that the system performance achieves the goal of the design. These works have laid the foundation for further development of unmanned combat system.
The main results and innovation of this thesis are as follows:
1. A novel angular displacement feedback control sensor based on open-loop fiber optic gyroscope is designed. Experiment shows that this new sensor can measure the angular displacement and achieve feedback control of the motor at the same time.
2. Disturbance rejection control techniques have been successfully used for the stability control of the unmanned combat platform. The parameter tuning of disturbance rejection controller have been solved by simulation and experiment online debugging.
3. The strength and stiffness of the unmanned combat platform mechanical structure is verified by finite element method. The structure of the platform is lightweight redesigned under the conditions of ensuring the structural strength and stiffness.
4. Domestic first engineering prototype of automatic weapons station for unmanned combat system is successfully designed and developed. Experimental result shows that the stability accuracy of azimuth-axis is 22.86 arc-seconds and the pitch-axis stability accuracy is 28.98 arc-seconds, which satisfy the demand of similar foreign automatic weapons stations.
引文
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