基于陀螺的舰载光电经纬仪视轴稳定技术研究
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摘要
舰载光电经纬仪的跟踪测量要受到载体运动的干扰,减小由于载体运动给跟踪瞄准带来的扰动误差是实现跟踪测量的必要前提,所以必须采取相应的结构和控制系统设计来隔离船体摇摆对成像系统视轴的扰动,最终达到使视轴能够“稳定”在惯性空间指定的方向。因此,视轴稳定技术是研制舰载光电经纬仪的一个关键技术。
安装在中小型舰船上的光电经纬仪,由于其惯导系统提供的船姿测量信息不能满足光电经纬仪视轴稳定精度的要求,所以必须安装陀螺等惯性器件来测量船姿信息或视轴相对于惯性空间的速度,本文针对基于两轴的陀螺稳定平台开展了关于舰载光电经纬仪的视轴稳定技术的研究。
本文首先根据基于陀螺的视轴稳定平台的结构配置,利用空间坐标系映射变换关系推导出两轴视轴稳定隔离方程,根据基于陀螺的视轴稳定伺服系统的组成,建立了基于陀螺的视轴稳定伺服系统的整体数学模型,进一步对视轴稳定伺服回路的控制模型、伺服刚度和隔离度等问题进行了研究。
通过分析指出,克服舰载条件下干扰力矩的影响及系统对象模型的不确定性是本系统中提高稳定精度和跟踪精度要重点解决的问题。针对这一问题,提出了在速率稳定环采用H_∞混合灵敏度方法进行控制器设计的方法,并详细讨论了加权函数选择的问题。
最后,采用了超前-滞后校正、串联高阶校正和H_∞混合灵敏度设计方法对一维实验转台进行速度稳定环的控制器的设计,通过仿真和试验结果的分析,H_∞混合灵敏度方法在抵抗干扰力矩及系统对象模型的不确定性对系统动态特性的影响方面有较大的优势,实验结果验证了这种方法的有效性。
The tracking measurement of carrier-based theodolite is disturbed by carrier movement, It is the necessary premise of reducing the disturbed errors due to carrier movement, So corresponding structure and control system must be designed to isolate the ship swing from disturbance of line of sight of carrier-based theodolite, Finally make line of sight stabilize in inertial space designated direction. Therefore, equipment developedby ship-swaying stability is electro-optical tracking measurement equipment is a key technology.
The photoelectric theodolite, installed the in small and medium-sized ship, Because measurement information of ship pose provided by inertial system,can not satisfy the photoelectric theodolite view axis stabilization accuracy requirement, so gyro based inertial devices must be installed such as to pose information or view axis relative to the speed of the inertial space, This paper based on two axis gyro stabilization platform about ship-borne photoelectric theodolite carried out the view axis stable technology research.
This paper firstly based on the view axis gyro based on stable platform structure configuration, To using the space coordinates mapping transformation between two axis view axis, stable isolation equation eye axis is stabilized , Based on composition of the view axis gyro of stable servo system , The overall mathematical model of visual stabilized axis is established based on the gyro's view axis stable servo system and servo loop of the important problems were analyzed.
Through the analysis, the influence of overcoming ship-borne condition and the disturbance torque object model uncertainty system is the system improve stabilization accuracy and tracking precision will focus on solve the problem. In this paper, the velocity stability ring mixed sensitivity by h-infinity controller design method and the method of weighted function are discussed in detail the problem of choice.
Finally, adopted advanced-lag correction, variable gain series high order correction and h-infinity mixed sensitivity design method of one-dimensional experiment turntable system speed stability ring controller design; Through the analysis of the experiment and simulation results, h-infinity mixed sensitivity method in resistance disturbance torque and system object model uncertainty about the influence of system dynamic characteristics have many advantages, experimental results verify the effectiveness of this method.
安装在中小型舰船上的光电经纬仪,由于其惯导系统提供的船姿测量信息不能满足光电经纬仪视轴稳定精度的要求,所以必须安装陀螺等惯性器件来测量船姿信息或视轴相对于惯性空间的速度,本文针对基于两轴的陀螺稳定平台开展了关于舰载光电经纬仪的视轴稳定技术的研究。
本文首先根据基于陀螺的视轴稳定平台的结构配置,利用空间坐标系映射变换关系推导出两轴视轴稳定隔离方程,根据基于陀螺的视轴稳定伺服系统的组成,建立了基于陀螺的视轴稳定伺服系统的整体数学模型,进一步对视轴稳定伺服回路的控制模型、伺服刚度和隔离度等问题进行了研究。
通过分析指出,克服舰载条件下干扰力矩的影响及系统对象模型的不确定性是本系统中提高稳定精度和跟踪精度要重点解决的问题。针对这一问题,提出了在速率稳定环采用H_∞混合灵敏度方法进行控制器设计的方法,并详细讨论了加权函数选择的问题。
最后,采用了超前-滞后校正、串联高阶校正和H_∞混合灵敏度设计方法对一维实验转台进行速度稳定环的控制器的设计,通过仿真和试验结果的分析,H_∞混合灵敏度方法在抵抗干扰力矩及系统对象模型的不确定性对系统动态特性的影响方面有较大的优势,实验结果验证了这种方法的有效性。
The tracking measurement of carrier-based theodolite is disturbed by carrier movement, It is the necessary premise of reducing the disturbed errors due to carrier movement, So corresponding structure and control system must be designed to isolate the ship swing from disturbance of line of sight of carrier-based theodolite, Finally make line of sight stabilize in inertial space designated direction. Therefore, equipment developedby ship-swaying stability is electro-optical tracking measurement equipment is a key technology.
The photoelectric theodolite, installed the in small and medium-sized ship, Because measurement information of ship pose provided by inertial system,can not satisfy the photoelectric theodolite view axis stabilization accuracy requirement, so gyro based inertial devices must be installed such as to pose information or view axis relative to the speed of the inertial space, This paper based on two axis gyro stabilization platform about ship-borne photoelectric theodolite carried out the view axis stable technology research.
This paper firstly based on the view axis gyro based on stable platform structure configuration, To using the space coordinates mapping transformation between two axis view axis, stable isolation equation eye axis is stabilized , Based on composition of the view axis gyro of stable servo system , The overall mathematical model of visual stabilized axis is established based on the gyro's view axis stable servo system and servo loop of the important problems were analyzed.
Through the analysis, the influence of overcoming ship-borne condition and the disturbance torque object model uncertainty system is the system improve stabilization accuracy and tracking precision will focus on solve the problem. In this paper, the velocity stability ring mixed sensitivity by h-infinity controller design method and the method of weighted function are discussed in detail the problem of choice.
Finally, adopted advanced-lag correction, variable gain series high order correction and h-infinity mixed sensitivity design method of one-dimensional experiment turntable system speed stability ring controller design; Through the analysis of the experiment and simulation results, h-infinity mixed sensitivity method in resistance disturbance torque and system object model uncertainty about the influence of system dynamic characteristics have many advantages, experimental results verify the effectiveness of this method.
引文
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