精密海陆光电跟踪控制系统研究
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摘要
光电稳定伺服控制系统是跟踪、侦察、定位、导航等应用领域的关键组成部分,为保证载体晃动条件下跟踪设备的空间相对稳定和视轴精确指向跟踪目标,本文针对陀螺稳定伺服控制系统,对稳定平台结构、稳定控制理论进行了深入的研究和验证。
首先对国内外光电稳定平台的结构和视轴稳定方法以及光电平台的发展进行了概述,介绍了常用的稳定控制方法;进而从理论上分析了两轴双环光电稳定平台隔离载体角运动的原理,总结并提出了视轴稳定对伺服系统的性能要求,从而为伺服系统的设计提供总体思想。
针对光电平台载体晃动、伺服电机非线性和平台摩擦、机械谐振等干扰因素,设计了速度内环和位置外环的双环控制系统。速度内环的设计从减少上述干扰提高响应速度出发,满足控制精度和响应速度的要求。为满足系统对精度和隔离度提出的更高要求,形成了双速度环的结构,即将屏蔽载体晃动和屏蔽其它干扰因素分开设计,速率陀螺作为反馈元件形成了稳定速度环,直流测速电机作为反馈元件形成常规速度环,其理论和实际的控制性能优于单速度环控制系统。位置外环采用基于滞环特性切换条件的自适应模糊控制系统和复合PID控制系统,模糊控制规则和参数在线自适应调整,并设计滞环特性的区间切换方法,满足对响应速度和鲁棒性的要求。最后通过DSP取代以前的工控机或单片机,实现上述功能。实验和仿真结果验证控制系统的设计能够满足性能指标的要求。
Opto-electronic stabilization and tracking systems play a more and more important role in the application of tracking, reconnaissance, surveillance, orientation, navigation systems. In order to keeping the tracking device steady and the line of sight pointing to the target, the framework of servo-control system and the tracking control theory have been studied in this paper.
At first the framework, the method and the development of opto-electronic stabilization systems in the world are summarized. Then the common technique of stabilization control system and the principle of insulating the movement of carrier by dual-axes dual-loop opto-electronic platform are introduced. All the analysis provides the general design ideas.
To reduce the noise, such as the swing of carrier, the non-linear character of servo motor, and the friction of platform, a dual-loop servo-control system including the inner rate-loop and the outer position-loop is designed. To satisfy the need of precision and bandwidth the inner rate-loop is constituted of dual-loop, in which the classical rate loop is used to reduce the swing of carrier, and the stabilization rate loop is to reduce the other noise. It has been proved that the performance of dual-loop rate loop is much better than the single-loop rate loop. The outer position loop is designed by the method of hybrid adaptive fuzzy control with hysteresis-band characteristic switching to satisfy the requirement of robustness and response time. Finally the DSP realizes the function of design instead of single chip microcomputer or industry personal computer. The simulation and the experiment results illustrate that the system can fulfill the demand of engineering.
首先对国内外光电稳定平台的结构和视轴稳定方法以及光电平台的发展进行了概述,介绍了常用的稳定控制方法;进而从理论上分析了两轴双环光电稳定平台隔离载体角运动的原理,总结并提出了视轴稳定对伺服系统的性能要求,从而为伺服系统的设计提供总体思想。
针对光电平台载体晃动、伺服电机非线性和平台摩擦、机械谐振等干扰因素,设计了速度内环和位置外环的双环控制系统。速度内环的设计从减少上述干扰提高响应速度出发,满足控制精度和响应速度的要求。为满足系统对精度和隔离度提出的更高要求,形成了双速度环的结构,即将屏蔽载体晃动和屏蔽其它干扰因素分开设计,速率陀螺作为反馈元件形成了稳定速度环,直流测速电机作为反馈元件形成常规速度环,其理论和实际的控制性能优于单速度环控制系统。位置外环采用基于滞环特性切换条件的自适应模糊控制系统和复合PID控制系统,模糊控制规则和参数在线自适应调整,并设计滞环特性的区间切换方法,满足对响应速度和鲁棒性的要求。最后通过DSP取代以前的工控机或单片机,实现上述功能。实验和仿真结果验证控制系统的设计能够满足性能指标的要求。
Opto-electronic stabilization and tracking systems play a more and more important role in the application of tracking, reconnaissance, surveillance, orientation, navigation systems. In order to keeping the tracking device steady and the line of sight pointing to the target, the framework of servo-control system and the tracking control theory have been studied in this paper.
At first the framework, the method and the development of opto-electronic stabilization systems in the world are summarized. Then the common technique of stabilization control system and the principle of insulating the movement of carrier by dual-axes dual-loop opto-electronic platform are introduced. All the analysis provides the general design ideas.
To reduce the noise, such as the swing of carrier, the non-linear character of servo motor, and the friction of platform, a dual-loop servo-control system including the inner rate-loop and the outer position-loop is designed. To satisfy the need of precision and bandwidth the inner rate-loop is constituted of dual-loop, in which the classical rate loop is used to reduce the swing of carrier, and the stabilization rate loop is to reduce the other noise. It has been proved that the performance of dual-loop rate loop is much better than the single-loop rate loop. The outer position loop is designed by the method of hybrid adaptive fuzzy control with hysteresis-band characteristic switching to satisfy the requirement of robustness and response time. Finally the DSP realizes the function of design instead of single chip microcomputer or industry personal computer. The simulation and the experiment results illustrate that the system can fulfill the demand of engineering.
引文
[1].姬伟,李奇,杨海峰等.精密光电跟踪转台的设计与伺服控制[J].光电工程,2006,33(3):11-16.
[2].王世虹.船载天线伺服系统抗摇摆方案研究[J].天线技术,2003,29(2):47-49.
[3].王红宣,高慧斌,张淑梅.光电经纬仪的高精度电视自动跟踪[J].电光与控制,2006,13(4):107-109.
[4].董期林,张淑梅.DSP控制的直流电机伺服系统[J].电光与控制,2006,13(2):109-112.
[5].James DOWNS,Steve SMITH,Jim SCHWICKERT.High Performance Gimbal Control for Self-Protection Weapon Systems[J].SPIE,1998,3365:77-86.
[6].庞新良,范大鹏,滕旭东等.数字式机载光电伺服系统的实现[J].光电工程,2007,34(4):10-15.
[7].梁阁亭,惠俊军,李玉平.陀螺仪的发展及应用[J].飞航导弹,2006,4:38-40.
[8].薛文胜.浅析几种新型陀螺的发展动态[J].电子科技大学学报,1995,21(5):485-489.
[9].李新刚,袁建平.微机械陀螺的发展现状[J].力学进展,2003,33(3):289-301.
[10].Larry A.Stockum,James Burge.Electro-mechanical Design for PrecisiOn Pointing and Tracking System.SPIE,1987,779.
[11].Larry A.Stockum,George R.Carroll.Precision Stabilized Platform for Shipboard Electro-Optical Systems.SPIE,1984,493.
[12].Donald Ruffatto,Donald Brown,Richard Pohle,etc.Stabilized High-Accuracy Optical Tracking System(SHOTS).SPIE,2001,4365
[13].马彩文,曹剑中.PI-P控制算法在弱刚度伺服系统中的应用[J].光子学报,2004,33(7):859-861.
[14].宋胜利,左敦稳,王珉等.PID参数模糊自调整技术的应用研究[J].机床与液压,2003,1:157-159.
[15].黄志兴,高岩.参数自调整PID模糊控制器及在数字随动系统中的应用[J].自动化技术与应用,2003,22(10):46-51.
[16].王连明.机载光电平台的稳定与跟踪伺服控制技术研究[D].长春:中科院长春光机所,2002.
[17].田广元.基于IPC平台的高性能数字控制器的研究[D].西安:中科院西安光机所,2005.
[18].张正福.音叉振动式微机械陀螺结构动态性能解析与健壮性设计[D].上海:上海交通大学,2007,6.
[19].施芹.提高硅微陀螺仪性能若干关键技术研究—正交误差与杂散电容分析研究[D].南京:东南大学,2005,12.
[20].张永祥.基于陀螺仪的船载电子稳像技术研究[D].长春:长春光学精密机械与物理研究所,2005,12.
[21].刘志聪.基于DSP惯导测试转台伺服系统的研究[D].西安:西北工业大学,2006.
[22].王杰.高精度交流伺服系统的新型控制策略[D].杭州:浙江大学,2005.
[23].张智永.光电稳定伺服机构的关键测控问题研究[D].长沙:国防科技大学,2006.
[24].姬伟.陀螺稳定光电跟踪平台伺服控制系统研究[D].南京:东南大学,2006.
[25].胡寿松.自动控制原理[M].北京:科学出版社,2001.
[26].何衍庆,姜捷,江艳君等.控制系统分析、设计和应用—MATLAB语言的应用[M].北京:化学工业出版社,2003.
[27].陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].北京:机械工业出版社,1998.
[28].胡佑德,马东升,张莉松.伺服系统原理与设计(修订版)[M].北京:北京理工大学出版社,1999.
[29].周雪琴.计算机控制系统[M].西安:西北工业大学出版社,1998.
[30].诸静.模糊控制原理与应用[M].背景:机械工业出版社,1995.
[31].何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术[M].北京:电子工业出版社,2003.
[32].TMS320LF/LC240xA DSP Controllers Reference Guide,System and Peripherals.Texas Instruments Inc,2006
[33].中星测控公司惯性导航传感器选型手册.
[2].王世虹.船载天线伺服系统抗摇摆方案研究[J].天线技术,2003,29(2):47-49.
[3].王红宣,高慧斌,张淑梅.光电经纬仪的高精度电视自动跟踪[J].电光与控制,2006,13(4):107-109.
[4].董期林,张淑梅.DSP控制的直流电机伺服系统[J].电光与控制,2006,13(2):109-112.
[5].James DOWNS,Steve SMITH,Jim SCHWICKERT.High Performance Gimbal Control for Self-Protection Weapon Systems[J].SPIE,1998,3365:77-86.
[6].庞新良,范大鹏,滕旭东等.数字式机载光电伺服系统的实现[J].光电工程,2007,34(4):10-15.
[7].梁阁亭,惠俊军,李玉平.陀螺仪的发展及应用[J].飞航导弹,2006,4:38-40.
[8].薛文胜.浅析几种新型陀螺的发展动态[J].电子科技大学学报,1995,21(5):485-489.
[9].李新刚,袁建平.微机械陀螺的发展现状[J].力学进展,2003,33(3):289-301.
[10].Larry A.Stockum,James Burge.Electro-mechanical Design for PrecisiOn Pointing and Tracking System.SPIE,1987,779.
[11].Larry A.Stockum,George R.Carroll.Precision Stabilized Platform for Shipboard Electro-Optical Systems.SPIE,1984,493.
[12].Donald Ruffatto,Donald Brown,Richard Pohle,etc.Stabilized High-Accuracy Optical Tracking System(SHOTS).SPIE,2001,4365
[13].马彩文,曹剑中.PI-P控制算法在弱刚度伺服系统中的应用[J].光子学报,2004,33(7):859-861.
[14].宋胜利,左敦稳,王珉等.PID参数模糊自调整技术的应用研究[J].机床与液压,2003,1:157-159.
[15].黄志兴,高岩.参数自调整PID模糊控制器及在数字随动系统中的应用[J].自动化技术与应用,2003,22(10):46-51.
[16].王连明.机载光电平台的稳定与跟踪伺服控制技术研究[D].长春:中科院长春光机所,2002.
[17].田广元.基于IPC平台的高性能数字控制器的研究[D].西安:中科院西安光机所,2005.
[18].张正福.音叉振动式微机械陀螺结构动态性能解析与健壮性设计[D].上海:上海交通大学,2007,6.
[19].施芹.提高硅微陀螺仪性能若干关键技术研究—正交误差与杂散电容分析研究[D].南京:东南大学,2005,12.
[20].张永祥.基于陀螺仪的船载电子稳像技术研究[D].长春:长春光学精密机械与物理研究所,2005,12.
[21].刘志聪.基于DSP惯导测试转台伺服系统的研究[D].西安:西北工业大学,2006.
[22].王杰.高精度交流伺服系统的新型控制策略[D].杭州:浙江大学,2005.
[23].张智永.光电稳定伺服机构的关键测控问题研究[D].长沙:国防科技大学,2006.
[24].姬伟.陀螺稳定光电跟踪平台伺服控制系统研究[D].南京:东南大学,2006.
[25].胡寿松.自动控制原理[M].北京:科学出版社,2001.
[26].何衍庆,姜捷,江艳君等.控制系统分析、设计和应用—MATLAB语言的应用[M].北京:化学工业出版社,2003.
[27].陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].北京:机械工业出版社,1998.
[28].胡佑德,马东升,张莉松.伺服系统原理与设计(修订版)[M].北京:北京理工大学出版社,1999.
[29].周雪琴.计算机控制系统[M].西安:西北工业大学出版社,1998.
[30].诸静.模糊控制原理与应用[M].背景:机械工业出版社,1995.
[31].何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术[M].北京:电子工业出版社,2003.
[32].TMS320LF/LC240xA DSP Controllers Reference Guide,System and Peripherals.Texas Instruments Inc,2006
[33].中星测控公司惯性导航传感器选型手册.