陀螺稳定伺服平台设计
摘要
陀螺稳定平台近几年发展十分迅速,被广泛应用于弹(箭)制导、机载、舰载、车载武器等军事领域和工业系统、摄影成像等民用领域。本文以实际项目为背景,针对陀螺稳定平台的三轴空间耦合关系、稳定控制算法以及如何具体实现稳定平台功能等关键技术进行了理论研究和实验验证。
本文研究了三轴稳定平台总体结构,分机械和伺服控制系统两部分对三轴稳定平台进行分析。根据三轴稳定平台空间架构对三轴稳定平台的信号耦合关系及其动力学方程进行了推导,从而将三轴多输入多输出系统转换为三个有联系的单输入单输出系统。为了保证视轴在一定扰动下稳定并能准确跟踪目标,采用单速率稳定环控制方法来抑制扰动,对单轴速率稳定环各环节进行了详细的分析,从而建立了单轴速率稳定环模型,并在单轴速率稳定环的基础上建立了三轴稳定环模型,将所建平台模型在MATLAB中仿真,得到了较好的仿真结果。合理规划控制系统硬件部分,将硬件部分分为输入板、主控板、输出板三块,主控板控制芯片选用运算能力强大并且外设齐全的DSP2812芯片,考虑到系统运算程度复杂且要求运算过程快速,用双DSP处理方式将输入信号处理和控制运算两部分分别在不同DSP中运算,从而保证能够在规定时间内完成从信号处理到控制运算输出整个过程。设计系统软件部分时根据双DSP结构规划程序模块,将程序模块分为解算DSP程序和控制DSP程序两部分,使得程序结构清晰,条理分明,便于系统的调试和维护。
The gyro stabilized platform developed very rapidly in recent years, it is widely used in the military area and civil area such as missile seeker, airborne weapon, shipborne weapon, vehicular weapon, industrial systems, photography etc. this paper based on the actual project as the background, made out the theoretical research and experimental verification on some key technology, which included the three-axis space coupling relations of gyro stabilized platform, stability control algorithms and how to achieve stabilized platform etc.
This paper researched the three-axis stabilized platform architecture, analyzed the three-axis stabilized platform on the part of mechanism and servo control system, derived the three-axis stabilized platform kinetic equation. thus the three-axis Multiple-input Multiple-output system could be converted into three connected Single-input Single-output system. A single-rate stabilized loop method is used to curb disturbance, ensured visual axis stabilizing at some disturbance and tracking target accurately. Analyzed the single-rate stabilized loop in all sectors of central, thus built the single-rate stabilized loop model, and built the three-axis stabilized loop based on the single-rate stabilized loop, simulating in the MATLAB, the model got a better simulation results. Reasonable planning control system hardware, the hardware was entered into input board, control board and output board. the control board's control chip was DSP2812, it has powerful computing power and complete peripherals, because the extent of system calculate was very complex and the rate of system calculate was very fast, the Double DSP processing way was used, it put the input signal processing and control operation in the different DSP, ensured finishing the process that from signal processing to control output. The system software design was under the Double DSP processing way, it was divided into three part which was acquisition DSP program and control DSP program, in this way, the program was more clarity and clear, and it was easy to debugged and maintenanced.
本文研究了三轴稳定平台总体结构,分机械和伺服控制系统两部分对三轴稳定平台进行分析。根据三轴稳定平台空间架构对三轴稳定平台的信号耦合关系及其动力学方程进行了推导,从而将三轴多输入多输出系统转换为三个有联系的单输入单输出系统。为了保证视轴在一定扰动下稳定并能准确跟踪目标,采用单速率稳定环控制方法来抑制扰动,对单轴速率稳定环各环节进行了详细的分析,从而建立了单轴速率稳定环模型,并在单轴速率稳定环的基础上建立了三轴稳定环模型,将所建平台模型在MATLAB中仿真,得到了较好的仿真结果。合理规划控制系统硬件部分,将硬件部分分为输入板、主控板、输出板三块,主控板控制芯片选用运算能力强大并且外设齐全的DSP2812芯片,考虑到系统运算程度复杂且要求运算过程快速,用双DSP处理方式将输入信号处理和控制运算两部分分别在不同DSP中运算,从而保证能够在规定时间内完成从信号处理到控制运算输出整个过程。设计系统软件部分时根据双DSP结构规划程序模块,将程序模块分为解算DSP程序和控制DSP程序两部分,使得程序结构清晰,条理分明,便于系统的调试和维护。
The gyro stabilized platform developed very rapidly in recent years, it is widely used in the military area and civil area such as missile seeker, airborne weapon, shipborne weapon, vehicular weapon, industrial systems, photography etc. this paper based on the actual project as the background, made out the theoretical research and experimental verification on some key technology, which included the three-axis space coupling relations of gyro stabilized platform, stability control algorithms and how to achieve stabilized platform etc.
This paper researched the three-axis stabilized platform architecture, analyzed the three-axis stabilized platform on the part of mechanism and servo control system, derived the three-axis stabilized platform kinetic equation. thus the three-axis Multiple-input Multiple-output system could be converted into three connected Single-input Single-output system. A single-rate stabilized loop method is used to curb disturbance, ensured visual axis stabilizing at some disturbance and tracking target accurately. Analyzed the single-rate stabilized loop in all sectors of central, thus built the single-rate stabilized loop model, and built the three-axis stabilized loop based on the single-rate stabilized loop, simulating in the MATLAB, the model got a better simulation results. Reasonable planning control system hardware, the hardware was entered into input board, control board and output board. the control board's control chip was DSP2812, it has powerful computing power and complete peripherals, because the extent of system calculate was very complex and the rate of system calculate was very fast, the Double DSP processing way was used, it put the input signal processing and control operation in the different DSP, ensured finishing the process that from signal processing to control output. The system software design was under the Double DSP processing way, it was divided into three part which was acquisition DSP program and control DSP program, in this way, the program was more clarity and clear, and it was easy to debugged and maintenanced.
引文
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[3]严武昇,刘宏.舰载雷达三轴稳定跟踪的研究[J].电子机械工程,1996,1:26-30
[4]汤铭.卫星跟踪稳定平台实现[J].中国电子学会电子机械工程分会 2007年机械电子学学术会议论文集.2007,64-68
[5]陈东生,闵跃军,门吉卓.CZ_2F高可靠内冗余三轴惯性稳定平台系统[J].导弹与航天运载技术,2004,1:38-44
[6]崔琪琳,张绍槐,刘于祥.旋转导向钻井系统稳定平台变结构控制研究[J].石油学报,2007,3:120-123
[7]许江宁,朱涛,卞鸿巍.航空摄影陀螺稳定平台[J].仪器仪表学报,2007,5:914-917
[8]李团结,朱超.一种具有稳定平台可全向滚动的球形机器人设计与分析[J].西安电子科技大学学报,2006,33(1):53-56
[9]张智永.移动载体稳定跟踪平台测控技术研究[D].国防科技大学硕士学位论文,2002
[10]姬伟.陀螺稳定光电跟踪平台伺服控制系统研究[D].东南大学博士学位论文,2006
[11]吴树平.车载三轴稳定平台控制系统的研制[D].南京理工大学硕士学位论文,2007
[12]秦永元.惯性导航[M].北京:科学出版社,2005
[13]杨浦,李奇.三轴陀螺稳定平台控制系统设计与实现[J].中国惯性技术学报,2007,15(2):171-176
[14]毕永利,刘洵,葛文奇,李洁.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
[15]Hongliu Du,Satish S.Nair.Modeling and Compensation of Low-Velocity Friction with Bounds[J].IEEE Transation on Control Systems Technology,1999,7(1):110-121
[16]Jayesh Amin.Implementation of A Friction Estimation and Compensation Technique[J].IEEE Control Sytems,1997,(8):71-76
[17]Slobodan N.Vukosavic.Suppression of Torsional Oscillations in A High-Performance Speed Servo Drive[J].IEEE Transation on Industry Electronics,1998,45(1):108-117
[18]Marcelo C A,Douglas E E.Novel Kalman Filtering Method for the Suppression of Gyroscope Noise Effects in Pointing and Tracking Systems[J].Optical engineering,1995, 34(10):3016-3030
[19]Marcelo C A.Kalman Filtering Approach for Reducing Gyroscope Noise Effects in Stabilized Platforms[C].SPIE Conference on Acquisition,Tracking,and Pointing Ⅵ,1992,1697:399-413
[20]Bo Li,D Hullender,M DeRenzo.Nonlinear Induced Disturbance Rejection in Inertial Stabilization Systems[J].IEEE Transation on Control System Technology,1998,6(3):421-427
[21]姬伟,李奇.陀螺稳定平台伺服系统非线性特性补偿控制[J].电气传动,2005,35(7):31-34
[22]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2004
[23]姬伟,李奇.陀螺稳定平台视轴稳定系统自适应模糊PID控制[J].航空学报,2007,28(1):191-195
[24]姬伟,李奇,杨浦.陀螺惯性平台视轴稳定双速度环串级控制的研究[J].仪器仪表学报,2007,28(1):114-119
[25]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[J].电光与控制,1998,(2):24-29
[26]Willian J.Bigley,Steven P.Tsao.Optimal Motion Stabilization Control of an Electro-Optical Sight System[C].SPIE,1989,1111:116-120
[27]J.M.Hilkert,David A.Hullender.Adaptive Control System Techniques Applied to Inertial Stabilization Systems[C].SPIE Conference on Acquisition,Tracking and Pointing Ⅳ,1990,1304:190-206
[28]武文杰,李奇,杨海峰.电视导引头伺服稳定平台数字控制器的研制[J].控制工程,2007,14(2):192-194
[29]李海霞,高钟毓,张嵘,韩丰田.四环空间稳定平台的动力学分析及电动机力矩计算[J].清华大学学报,2007,47(5):635-639
[30]程峰,任戈.惯性稳定平台建模及振动传递率分析[J].光电工程,2006,33(4):19-22
[31]李清军,李文明.三轴稳定平台的陀螺耦合分析[J].电子测量与仪器学报,2007,增刊:651-654
[32]周长义.三轴飞行仿真转台控制系统设计与控制算法研究[D].中国科学院研究生院博士学位论文,2004
[33]秦继荣,沈安俊.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社,1993
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