移动载体稳定跟踪平台测控技术研究
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摘要
稳定跟踪平台是惯性技术应用的重要领域之一，其中天线稳定技术以其广泛的应用前景成为稳定跟踪平台研究的一大热点。稳定平台的核心问题是载体姿态测量和控制技术，传统的稳定平台以平台式或捷联式惯导系统技术为基础，使用一些机电或光电惯性敏感元件，技术复杂且造价很高，因而载体姿态测控技术也成为稳定跟踪平台发展的难点。本文以车载天线稳定跟踪系统的研制为背景，主要研究基于微机电惯性元件的天线稳定平台的姿态测控技术。课题研究的主要内容包括：天线稳定方案研究、天线伺服系统的模型辨识和控制参数整定、微机电陀螺和数字罗盘的性能测试和在天线稳定系统中的应用方法研究、卫星天线极化电平扫描和跟踪技术研究等。
一、天线稳定方案是整个系统研制的基础，而且从根本上决定了整个系统的性能。本文针对现有的各种天线稳定方案存在的不足，提出了一种简易的使用微机电陀螺的天线稳定方案，并进行了仿真实验。
二、采用实验建模的方法确定了天线伺服系统的二阶模型，采用改进的数字PID控制方案，通过仿真实验确定了优化的PID参数，为实际控制提供了参考。
三、研究了微机电角速度传感器的原理，通过一系列实验确定了该传感器的性能和在天线稳定系统中的使用方法和误差补偿方案；研究了采用磁阻传感器和倾斜传感器的数字罗盘模块的原理和影响精度的因素。针对其使用的特殊要求，提出了其在天线稳定系统中的使用方法和减小误差的方案。
四、研究了系统初始对准过程中的坐标变换算法并进行了仿真实验，针对数字罗盘本身的精度限制和安装误差对系统对星精度造成的影响，提出了基于信号电平的最大值扫描方案，使系统的初始对准精度上升到0.4°。
五、研究了极化电平信号的特性及相应的噪声处理方案，针对两轴稳定跟踪的不足，提出了基于信号最佳电平的自动跟踪方案。
Stabilization and automatic pointing and tracking platform (FTP) is an important field among the applications of the inertial technology. And because of its broad application foreground, antenna stabilization has become a hotspot of stabilization and automatic FTP. The core of stabilization platform is the attitude measurement and control of the carrier. The traditional stabilization platform bases on
platform or strap-down inertial system, uses mechatronics or photoelectronical inertial sensor component. The cost of this kind of platform is usually high and the technology is complex. Thus the technology of carrier attitude measurement and control also becomes the difficulty of the development of stabilization platform. With the aim of developing antenna stabilization system which carries by vehicle, this article's research
major in the attitude measurement and control of the antenna stabilization platform, which bases on the micro-mechatronics inertial component. The main content of this article include the research on the stabilization scheme of the antenna stabilization system, the constitute of the model of the antenna serve system and the confirmation and optimization of the control parameter, the utility test of the micro-mechatronic gyro and
digital compass, the application research of these sensors in antenna stabilization system, the research of the polarization signal scan and automatic pointing and tracking technology.
1.The stabilization scheme of antenna stabilization is the foundation of the development the whole system, and plays important role to the utility of the whole system. Aiming at the lack of existing stabilization schemes, this paper proposes an simple schemes which uses micro-mechatronic gyros. An experiment is also carried through.
2.This article constitutes the two-step model of the antenna serve system. The digital PID control technology is adapted and a set of optimized parameters are also brought forward here. These parameters offer reference to the real control.
3.The principle of the micro-mechatronic angle rate sensors is discussed in this article. A series of experiment is made to test the utility of these sensors. The way to use these sensors in the antenna stabilization system and to make up of the error is proposed here. The principle of the digital compass module and the factor which affect its accuracy is also discussed in the article. Aiming at the specific using request, this paper proposes the way to reduce the error.
4.The algorithm of the coordinate transformation during the initial pointing process of the system is developed in this article. And in view of the restrict of the accuracy of the digital compass itself and the installation error, a maximum scan scheme based on signal intensity is
studied. By this scheme, the initial pointing precision is increased to 0.4?
5.The characteristic of the polarization signal is studied here and the corresponding noise process method is proposed. Aiming at the limitation of two-axis stabilization and auto track, the optimized signal tracking scheme is proposed.
一、天线稳定方案是整个系统研制的基础，而且从根本上决定了整个系统的性能。本文针对现有的各种天线稳定方案存在的不足，提出了一种简易的使用微机电陀螺的天线稳定方案，并进行了仿真实验。
二、采用实验建模的方法确定了天线伺服系统的二阶模型，采用改进的数字PID控制方案，通过仿真实验确定了优化的PID参数，为实际控制提供了参考。
三、研究了微机电角速度传感器的原理，通过一系列实验确定了该传感器的性能和在天线稳定系统中的使用方法和误差补偿方案；研究了采用磁阻传感器和倾斜传感器的数字罗盘模块的原理和影响精度的因素。针对其使用的特殊要求，提出了其在天线稳定系统中的使用方法和减小误差的方案。
四、研究了系统初始对准过程中的坐标变换算法并进行了仿真实验，针对数字罗盘本身的精度限制和安装误差对系统对星精度造成的影响，提出了基于信号电平的最大值扫描方案，使系统的初始对准精度上升到0.4°。
五、研究了极化电平信号的特性及相应的噪声处理方案，针对两轴稳定跟踪的不足，提出了基于信号最佳电平的自动跟踪方案。
Stabilization and automatic pointing and tracking platform (FTP) is an important field among the applications of the inertial technology. And because of its broad application foreground, antenna stabilization has become a hotspot of stabilization and automatic FTP. The core of stabilization platform is the attitude measurement and control of the carrier. The traditional stabilization platform bases on
platform or strap-down inertial system, uses mechatronics or photoelectronical inertial sensor component. The cost of this kind of platform is usually high and the technology is complex. Thus the technology of carrier attitude measurement and control also becomes the difficulty of the development of stabilization platform. With the aim of developing antenna stabilization system which carries by vehicle, this article's research
major in the attitude measurement and control of the antenna stabilization platform, which bases on the micro-mechatronics inertial component. The main content of this article include the research on the stabilization scheme of the antenna stabilization system, the constitute of the model of the antenna serve system and the confirmation and optimization of the control parameter, the utility test of the micro-mechatronic gyro and
digital compass, the application research of these sensors in antenna stabilization system, the research of the polarization signal scan and automatic pointing and tracking technology.
1.The stabilization scheme of antenna stabilization is the foundation of the development the whole system, and plays important role to the utility of the whole system. Aiming at the lack of existing stabilization schemes, this paper proposes an simple schemes which uses micro-mechatronic gyros. An experiment is also carried through.
2.This article constitutes the two-step model of the antenna serve system. The digital PID control technology is adapted and a set of optimized parameters are also brought forward here. These parameters offer reference to the real control.
3.The principle of the micro-mechatronic angle rate sensors is discussed in this article. A series of experiment is made to test the utility of these sensors. The way to use these sensors in the antenna stabilization system and to make up of the error is proposed here. The principle of the digital compass module and the factor which affect its accuracy is also discussed in the article. Aiming at the specific using request, this paper proposes the way to reduce the error.
4.The algorithm of the coordinate transformation during the initial pointing process of the system is developed in this article. And in view of the restrict of the accuracy of the digital compass itself and the installation error, a maximum scan scheme based on signal intensity is
studied. By this scheme, the initial pointing precision is increased to 0.4?
5.The characteristic of the polarization signal is studied here and the corresponding noise process method is proposed. Aiming at the limitation of two-axis stabilization and auto track, the optimized signal tracking scheme is proposed.
引文
[1]杨培根，龚智炳．光电惯性技术．兵器工业出版社，1999
[2]陈哲．捷联惯导系统原理．宇航出版社，1986
[3]沈民谊，蔡振远．卫星通信天线、馈源、跟踪系统．人民邮电出版社，1993
[4]雨宫好文(?)．机械控制入门．科学出版社，OHM社，2000
[5]魏克新，王云亮，陈志敏．MATLAB语言与自动控制系统设计．机械工业出版社，1997
[6]陶永华，尹怡新，葛芦生。新型PID控制及其应用．机械工业出版社，2000
[7]张志涌，徐彦琴．MATLAB教程——基于6.x版本．北京航空航天大学出版社，2001
[8]温熙森，陈循，唐丙阳．机械系统动态分析理论与应用．国防科技大学出版社，1997
[9]杨叔子，杨克冲．机械工程控制基础．华中理工大学出版社，1993
[10]程佩青．数字信号处理教程．清华大学出版社，1995
[11]郭富强，于波，王叔华．陀螺稳定装置及其应用．西北工业大学出版社，1995
[12]张树侠，孙静．捷联式惯性导航系统．国防工业出版社，1992
[13]邓正隆．惯性导航原理．哈尔滨工业大学出版社，1994
[14]吴凤高．天线座结构设计．西北电讯工程学院出版社，1986
[15]张云生．实时控制系统软件设计原理及应用．国防工业出版社，1998
[16]周启煌，单东升．坦克火力控制系统，1997
[17]韦和民，俞军．船用卫星天线自动跟踪控制系统．电子技术应用，1997
[18]谢木军，马佳光．空间光通信中的精密跟踪瞄准技术．光电工程，2000
[19]严武升，刘宏，过润秋．基于前馈补偿的舰载雷达天线三轴稳定跟踪的研究．西安电子科技大学学报，1998
[20]谢东晖．接收线极化卫星节目的天线极化匹配．广播与电视技术，1997
[21]邓四化．卫星接收天线仰角和方位角计算公式的推导．中国有线电视，1998
[22]柳朝军，廖晓钟，张宇河．捷联式三轴稳定跟踪系统的运动学建模与仿真．北京理工大学学报，2000
[23]孙宝样，何传五，李铁寿．速率积分陀螺的数学模型和常值漂移的在轨标定．航天控制，1999
[24]徐丽娜，谢青．捷联系统航姿算法分析．自动化技术与应用，2000
[25]彭允祥．捷联惯导与导航卫星组合技术的发展趋势．导弹与航天运载技术，1999
[26]刘巧光，杨海军．捷联惯性导航系统的姿态算法优化设计．中国惯性技术学报，1999
[27]袁智荣，李智．一种新型磁阻传感器的研究及应用．测控技术，1999
[28]张亚崇，郭圣权．一种捷联惯导系统姿态测量新算法的应用研究．火力与指挥控制，2000
[29]王养柱，崔中兴．捷联惯导系统圆锥补偿算法优化设计．中国惯性技术学报，2000
[2]陈哲．捷联惯导系统原理．宇航出版社，1986
[3]沈民谊，蔡振远．卫星通信天线、馈源、跟踪系统．人民邮电出版社，1993
[4]雨宫好文(?)．机械控制入门．科学出版社，OHM社，2000
[5]魏克新，王云亮，陈志敏．MATLAB语言与自动控制系统设计．机械工业出版社，1997
[6]陶永华，尹怡新，葛芦生。新型PID控制及其应用．机械工业出版社，2000
[7]张志涌，徐彦琴．MATLAB教程——基于6.x版本．北京航空航天大学出版社，2001
[8]温熙森，陈循，唐丙阳．机械系统动态分析理论与应用．国防科技大学出版社，1997
[9]杨叔子，杨克冲．机械工程控制基础．华中理工大学出版社，1993
[10]程佩青．数字信号处理教程．清华大学出版社，1995
[11]郭富强，于波，王叔华．陀螺稳定装置及其应用．西北工业大学出版社，1995
[12]张树侠，孙静．捷联式惯性导航系统．国防工业出版社，1992
[13]邓正隆．惯性导航原理．哈尔滨工业大学出版社，1994
[14]吴凤高．天线座结构设计．西北电讯工程学院出版社，1986
[15]张云生．实时控制系统软件设计原理及应用．国防工业出版社，1998
[16]周启煌，单东升．坦克火力控制系统，1997
[17]韦和民，俞军．船用卫星天线自动跟踪控制系统．电子技术应用，1997
[18]谢木军，马佳光．空间光通信中的精密跟踪瞄准技术．光电工程，2000
[19]严武升，刘宏，过润秋．基于前馈补偿的舰载雷达天线三轴稳定跟踪的研究．西安电子科技大学学报，1998
[20]谢东晖．接收线极化卫星节目的天线极化匹配．广播与电视技术，1997
[21]邓四化．卫星接收天线仰角和方位角计算公式的推导．中国有线电视，1998
[22]柳朝军，廖晓钟，张宇河．捷联式三轴稳定跟踪系统的运动学建模与仿真．北京理工大学学报，2000
[23]孙宝样，何传五，李铁寿．速率积分陀螺的数学模型和常值漂移的在轨标定．航天控制，1999
[24]徐丽娜，谢青．捷联系统航姿算法分析．自动化技术与应用，2000
[25]彭允祥．捷联惯导与导航卫星组合技术的发展趋势．导弹与航天运载技术，1999
[26]刘巧光，杨海军．捷联惯性导航系统的姿态算法优化设计．中国惯性技术学报，1999
[27]袁智荣，李智．一种新型磁阻传感器的研究及应用．测控技术，1999
[28]张亚崇，郭圣权．一种捷联惯导系统姿态测量新算法的应用研究．火力与指挥控制，2000
[29]王养柱，崔中兴．捷联惯导系统圆锥补偿算法优化设计．中国惯性技术学报，2000