图像导引头稳定平台伺服系统的设计与研究
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摘要
图像导引是导弹末端导航的重要导航方式,导引头伺服平台的快速性和稳定性是决定导弹命中目标精度的关键因素。本文以图像导引头稳定平台伺服控制系统的设计为背景形成的。
首先,根据导引平台系统的特点和要求,设计系统的机械结构。选择了俯仰角和方位角的力矩电机,以PWM波的形式控制执行电机的运动,并以稳定性好的集成电路LMD12800作为驱动芯片,确定了以高性能的运动控制芯片TMS320F2407为主控制器的总体方案。控制系统硬件设计方面主要包括：DSP最小系统、光电隔离及驱动单元、位置检测单元、人机交互单元和CAN通讯单元等部分设计。
其次,在转台控制系统的实际设计中,本文采用经典控制理论进行了系统设计。为了满足系统的控制精度和响应速度,解决单环结构的稳定回路由于速度响应的限制,不能很好地跟踪快速变化而引起的平台误差角大的特点,将转台控制系统设计成一个双回路控制切换系统。其设计思想是：当转台偏差信号较大时,采用速度粗回路控制使转台能够快速接近希望位置；当偏差信号较小时,采用位置精回路控制以保证系统控制的精度。为了解决单闭环系统跟踪快速信号差的缺点还对双闭环控制方法进行了研究。同时对控制系统的干扰和系统的未建模动态进行了自抗扰控制的研究和仿真。
最后,根据连续化设计方法对控制器进行了数字化设计,在CCS2.0环境中编写相应C语言控制程序、采样程序、通讯程序。并用VC6.0编写了上位机的控制界面。同时对系统中存在的非线性问题进行了分析并给出了实际处理方法。
论文中设计的导引平台控制系统解决了现有模拟控制方案中由于器件参数随环境温度变化导致的系统的精度不够和稳定性差问题,达到了较好的控制效果。
Image guidance is the important navigation way of missile end navigation, and the celerity and stability of homing head servo platform are the key factors to determine the missile hit accuracy. This thesis is finished based on the design of the stability platform servo control system of the image seeker.
First of all, according to the characteristics and demand of the guidance platform system, the mechanical structure of the system is designed. The integral scheme is to choose the torque motor with pitch angle and azimuth, to control the motion of electric motor in the form of PWM wave, to select integrated circuit LMD12800 with high stability as driver chip, and to confirm motion controlling chip TMS320F2407 with high-performance as master controller. The hardware design of the control system contains DSP minimum system, electro-optical isolation and driving unit, position detecting unit, human-machine interaction unit, CAN communication unit and other parts.
Secondly, in the actual design of the turntable control system, this thesis adopts the classical control theory to design systematically. To meet the system's control precision and response speed and to solve the stable loop of monocyclic structure due to the response speed restriction that it can not track or change fast and the platform error angle is large, the turntable control system is designed into double circuit control switched system. The designing concept is that when the deviation signal of turntable is greater, the speed rough loop control is adopted to make the turntable close to the hoping position; when the deviation signal is smaller, the position precise loop control is adopted to guarantee the precision of system control. In order to solve the shortcoming that the tracking fast signal of single closed-circuit is bad, the double-closed loop control method is researched. Meanwhile, the active disturbance rejection research and simulation of control system's interference and the non-modeling dynamics is made.
Finally, according to the continuous design method, digitization design for the controller is made, and corresponding C language control program, sampling program, communication program are compiled in the environment of CCS2.0. And VC6.0 is applied to program the control interface of the host computer. Meanwhile, the non-linear problems are analyzed and given the actual treatment method.
The guidance platform control system designed in the thesis solves the problem of system's low precision and instability in the present simulating control scheme, because the device parameter varies with the environment temperature; thus the guidance platform control system has achieved the better control effect.
首先,根据导引平台系统的特点和要求,设计系统的机械结构。选择了俯仰角和方位角的力矩电机,以PWM波的形式控制执行电机的运动,并以稳定性好的集成电路LMD12800作为驱动芯片,确定了以高性能的运动控制芯片TMS320F2407为主控制器的总体方案。控制系统硬件设计方面主要包括：DSP最小系统、光电隔离及驱动单元、位置检测单元、人机交互单元和CAN通讯单元等部分设计。
其次,在转台控制系统的实际设计中,本文采用经典控制理论进行了系统设计。为了满足系统的控制精度和响应速度,解决单环结构的稳定回路由于速度响应的限制,不能很好地跟踪快速变化而引起的平台误差角大的特点,将转台控制系统设计成一个双回路控制切换系统。其设计思想是：当转台偏差信号较大时,采用速度粗回路控制使转台能够快速接近希望位置；当偏差信号较小时,采用位置精回路控制以保证系统控制的精度。为了解决单闭环系统跟踪快速信号差的缺点还对双闭环控制方法进行了研究。同时对控制系统的干扰和系统的未建模动态进行了自抗扰控制的研究和仿真。
最后,根据连续化设计方法对控制器进行了数字化设计,在CCS2.0环境中编写相应C语言控制程序、采样程序、通讯程序。并用VC6.0编写了上位机的控制界面。同时对系统中存在的非线性问题进行了分析并给出了实际处理方法。
论文中设计的导引平台控制系统解决了现有模拟控制方案中由于器件参数随环境温度变化导致的系统的精度不够和稳定性差问题,达到了较好的控制效果。
Image guidance is the important navigation way of missile end navigation, and the celerity and stability of homing head servo platform are the key factors to determine the missile hit accuracy. This thesis is finished based on the design of the stability platform servo control system of the image seeker.
First of all, according to the characteristics and demand of the guidance platform system, the mechanical structure of the system is designed. The integral scheme is to choose the torque motor with pitch angle and azimuth, to control the motion of electric motor in the form of PWM wave, to select integrated circuit LMD12800 with high stability as driver chip, and to confirm motion controlling chip TMS320F2407 with high-performance as master controller. The hardware design of the control system contains DSP minimum system, electro-optical isolation and driving unit, position detecting unit, human-machine interaction unit, CAN communication unit and other parts.
Secondly, in the actual design of the turntable control system, this thesis adopts the classical control theory to design systematically. To meet the system's control precision and response speed and to solve the stable loop of monocyclic structure due to the response speed restriction that it can not track or change fast and the platform error angle is large, the turntable control system is designed into double circuit control switched system. The designing concept is that when the deviation signal of turntable is greater, the speed rough loop control is adopted to make the turntable close to the hoping position; when the deviation signal is smaller, the position precise loop control is adopted to guarantee the precision of system control. In order to solve the shortcoming that the tracking fast signal of single closed-circuit is bad, the double-closed loop control method is researched. Meanwhile, the active disturbance rejection research and simulation of control system's interference and the non-modeling dynamics is made.
Finally, according to the continuous design method, digitization design for the controller is made, and corresponding C language control program, sampling program, communication program are compiled in the environment of CCS2.0. And VC6.0 is applied to program the control interface of the host computer. Meanwhile, the non-linear problems are analyzed and given the actual treatment method.
The guidance platform control system designed in the thesis solves the problem of system's low precision and instability in the present simulating control scheme, because the device parameter varies with the environment temperature; thus the guidance platform control system has achieved the better control effect.
引文
[1]董传昌,刘仁水.电视导引头特性分析.电光与控制.2003,10(4)：58-60页
[2]王德奎.电视导引头伺服稳定平台控制器的数字化设计.视频应用技术与工程.2005：94-97页
[3]钟建业.国外TMD所采用的若干高新技术[J].中国航天1999(12)：18-20页
[4]蒋鸿旺.反舰导弹新克星一法国“维志”系列光电火控系统探析[J].现代防御技术.1998,5：12-16页
[5]蒋鸿旺.岸基光电监视系统发展趋势和典型系统分析[J].红外与激光工程.1995,6：13-16页
[6]孙隆和.机载光电探测、跟踪、瞄准系统技术分析和发展研究[J].电光与控制.1995,1：21-23页
[7]张万清,王忠学等.飞航导弹电视导引头[M].国防工业出版社,1992：3-5页
[8]郭治.现代火控理论[M].北京：国防工业出版社,1996
[9]蒋谱成.电视跟踪在火控雷达中的地位和作用[J].雷达.1987(3)：44-49页
[10]朱元昌,赵福红.火控系统原理与分析[M].兵器工业出版社,1994
[11]王春平.图像处理理论与技术在火力控制工程中的应用研究[J].1996
[12]周启煌,单东升.坦克火力控制系统[M].国防工业出版社,1997
[13]张翠.高分辨率SAR图像自动目标识别方法研究[D].国防科学技术大学.2003
[14]导弹制导和控制系统分析与设计[M].北京：宇航出版社,1989
[15]王连明.机载光电平台的稳定与跟踪伺服控制技术研究[D].中国科学院.2002：13-25页
[16]王克.导弹防御局计划利用微卫星来进行验证试验[J].国外卫星动态2005(6)：26-27页
[17]吴金中.电视导引系统的视轴稳定跟踪技术.战术导弹技术.2002：68-76页
[18]王晓明.王玲电动机的DSP控制一TI公司DSP应用制.北京：航空航天大学出版社,2004,7(1)：1-16页
[19]TMS320LF2407A数据手册(EBOL)
[20]陈其兵.转台动态测角系统的设计与研究.哈尔滨工业大学硕士学位论文.2002：16-18页
[21]王连明.机载光电平台的稳定与跟踪伺服控制技术研究[D].中国科学院.2002：13-25页
[22]曾庆双,王茂.高精度转台控制系统研究.中国惯性技术学报.1995,3(2)：53-57页
[23]D.N.Es'kov.,Yu.A.stepin,VA.Toropin.optical image stabilization methods and means SoV·J.Opt.Technol.49 (1).Jan 1982
[25]谷素梅,张经武.CCD摄像机光学惯性稳像跟踪头[J].光学技术.1995(2)
[26]杨海峰,李奇,姬伟.高精度伺服稳定平台数学控制器研制.东南大学学报(自然科学版).2004,9(34)：96-100页
[27]GeorgeR'Lewis.Image stabilization techniques for long range reconnaissance camera [J] SPIE 1980 Vol.242
[28]Netser Y Image Stabilization (J).OptEng.1982.11 (9)
[29]Kermani,M.R.Wong, R.V.Patel,M. Moallem, Mile Ostojic.Friction Compensation in Low and High-Reversal-Velocity Manipulators.Proceedings of the 2004 IEEE International Conference on Robotics&Automation.2004: 4320-4325P
[30]姬伟,李奇,杨海峰.四轴稳定跟踪转台伺服控制系统的研究与实现.中国惯性技术学报.2005,13(3)：70-75页
[31]Chong Lin,Qing-Guo Wang,Tong Heng Lee.H∞Output Tracking Control for Nonlinear Systems via T-S Fuzzy Model Approach.IEEE Transactions on Systems,Man,and Cybernetics-Part B:Cybernetics.2006,36 (2):450-457P
[32]Bao-Ping Ma,Ji Sun.Robust Stabilization of Uncertain T-S Fuzzy Descriptor Systems.Proceedings of the Third International Conference on MachineLearning and Cybernetics.2004:334-337P
[33]strom K.J, Borisson U,Ljung L.et al.Theory and Applications of Self-tuning Regulators.Automatica.1977,13 (5):457-476P
[34]王茂,秦嘉川,冯幼田.测试转台全数字化控制系统设计.中国惯性技术学报.1999,7(1)：52-56页
[35]王卫红,王广雄等.转台伺服系统的H∞设计.中国惯性技术学报.1996,4(3)：52-55页
[36]王毅.高精度伺服转台中非线性问题研究.哈尔滨工业大学工学博士学位论文.2005,2
[36]许波,李正明,殷春芳.精密转台伺服控制系统的研究.控制理论与应用.2004,23(10)：16-18页
[37]沈爱玲.惯性平台稳定回路数字控制系统设计.西北工业大学硕士论文.1993
[38]秦继安,沈安俊.现代直流伺服控制技术及其系统设计.机械工业出版社,1999：160-341页
[39]武力强,韩京清.TD滤波器机器应用.计算技术与自动化.2003(2)：61-63页
[40]薛定宇.反馈控制系统设计与分析[M].清华大学出版社.,2000：58-75页
[41]陈桂明,张明照,戚红雨等.应用Mat lab建模与仿真[M].科学出版社,2001
[42]刘胜,彭侠夫,叶瑰荺.现代伺服系统设计[M].哈尔滨工程大学出版,2001
[43]丁衡高著.惯性技术文集.国防工业出版社,1994：1-25页,36-44页
[2]王德奎.电视导引头伺服稳定平台控制器的数字化设计.视频应用技术与工程.2005：94-97页
[3]钟建业.国外TMD所采用的若干高新技术[J].中国航天1999(12)：18-20页
[4]蒋鸿旺.反舰导弹新克星一法国“维志”系列光电火控系统探析[J].现代防御技术.1998,5：12-16页
[5]蒋鸿旺.岸基光电监视系统发展趋势和典型系统分析[J].红外与激光工程.1995,6：13-16页
[6]孙隆和.机载光电探测、跟踪、瞄准系统技术分析和发展研究[J].电光与控制.1995,1：21-23页
[7]张万清,王忠学等.飞航导弹电视导引头[M].国防工业出版社,1992：3-5页
[8]郭治.现代火控理论[M].北京：国防工业出版社,1996
[9]蒋谱成.电视跟踪在火控雷达中的地位和作用[J].雷达.1987(3)：44-49页
[10]朱元昌,赵福红.火控系统原理与分析[M].兵器工业出版社,1994
[11]王春平.图像处理理论与技术在火力控制工程中的应用研究[J].1996
[12]周启煌,单东升.坦克火力控制系统[M].国防工业出版社,1997
[13]张翠.高分辨率SAR图像自动目标识别方法研究[D].国防科学技术大学.2003
[14]导弹制导和控制系统分析与设计[M].北京：宇航出版社,1989
[15]王连明.机载光电平台的稳定与跟踪伺服控制技术研究[D].中国科学院.2002：13-25页
[16]王克.导弹防御局计划利用微卫星来进行验证试验[J].国外卫星动态2005(6)：26-27页
[17]吴金中.电视导引系统的视轴稳定跟踪技术.战术导弹技术.2002：68-76页
[18]王晓明.王玲电动机的DSP控制一TI公司DSP应用制.北京：航空航天大学出版社,2004,7(1)：1-16页
[19]TMS320LF2407A数据手册(EBOL)
[20]陈其兵.转台动态测角系统的设计与研究.哈尔滨工业大学硕士学位论文.2002：16-18页
[21]王连明.机载光电平台的稳定与跟踪伺服控制技术研究[D].中国科学院.2002：13-25页
[22]曾庆双,王茂.高精度转台控制系统研究.中国惯性技术学报.1995,3(2)：53-57页
[23]D.N.Es'kov.,Yu.A.stepin,VA.Toropin.optical image stabilization methods and means SoV·J.Opt.Technol.49 (1).Jan 1982
[25]谷素梅,张经武.CCD摄像机光学惯性稳像跟踪头[J].光学技术.1995(2)
[26]杨海峰,李奇,姬伟.高精度伺服稳定平台数学控制器研制.东南大学学报(自然科学版).2004,9(34)：96-100页
[27]GeorgeR'Lewis.Image stabilization techniques for long range reconnaissance camera [J] SPIE 1980 Vol.242
[28]Netser Y Image Stabilization (J).OptEng.1982.11 (9)
[29]Kermani,M.R.Wong, R.V.Patel,M. Moallem, Mile Ostojic.Friction Compensation in Low and High-Reversal-Velocity Manipulators.Proceedings of the 2004 IEEE International Conference on Robotics&Automation.2004: 4320-4325P
[30]姬伟,李奇,杨海峰.四轴稳定跟踪转台伺服控制系统的研究与实现.中国惯性技术学报.2005,13(3)：70-75页
[31]Chong Lin,Qing-Guo Wang,Tong Heng Lee.H∞Output Tracking Control for Nonlinear Systems via T-S Fuzzy Model Approach.IEEE Transactions on Systems,Man,and Cybernetics-Part B:Cybernetics.2006,36 (2):450-457P
[32]Bao-Ping Ma,Ji Sun.Robust Stabilization of Uncertain T-S Fuzzy Descriptor Systems.Proceedings of the Third International Conference on MachineLearning and Cybernetics.2004:334-337P
[33]strom K.J, Borisson U,Ljung L.et al.Theory and Applications of Self-tuning Regulators.Automatica.1977,13 (5):457-476P
[34]王茂,秦嘉川,冯幼田.测试转台全数字化控制系统设计.中国惯性技术学报.1999,7(1)：52-56页
[35]王卫红,王广雄等.转台伺服系统的H∞设计.中国惯性技术学报.1996,4(3)：52-55页
[36]王毅.高精度伺服转台中非线性问题研究.哈尔滨工业大学工学博士学位论文.2005,2
[36]许波,李正明,殷春芳.精密转台伺服控制系统的研究.控制理论与应用.2004,23(10)：16-18页
[37]沈爱玲.惯性平台稳定回路数字控制系统设计.西北工业大学硕士论文.1993
[38]秦继安,沈安俊.现代直流伺服控制技术及其系统设计.机械工业出版社,1999：160-341页
[39]武力强,韩京清.TD滤波器机器应用.计算技术与自动化.2003(2)：61-63页
[40]薛定宇.反馈控制系统设计与分析[M].清华大学出版社.,2000：58-75页
[41]陈桂明,张明照,戚红雨等.应用Mat lab建模与仿真[M].科学出版社,2001
[42]刘胜,彭侠夫,叶瑰荺.现代伺服系统设计[M].哈尔滨工程大学出版,2001
[43]丁衡高著.惯性技术文集.国防工业出版社,1994：1-25页,36-44页