高分辨率对地机载吊舱稳瞄技术研究
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摘要
机载吊舱能够稳定光学系统的视轴,使光学系统能够在机载环境下稳定地观测目标。机载吊舱在军用和民用方面都有广泛的应用。
本文重点研究视轴稳定技术,主要包括被动减振和惯性稳定技术。被动减振的方法是在机载吊舱内环和外环之间安装减振器,通过减振器隔离飞机载体耦合的高频振动。惯性稳定技术是一个闭环伺服控制技术,伺服系统的执行器是直流力矩电机,传感器是惯性陀螺仪。本文还设计了内置电流环的双极性直流力矩电机驱动电路和以TMS320LF2407A为主控器件的控制电路。惯性稳定技术主要隔离低频振动。为了提高系统带宽,本设计采用三环控制策略,分别为电流环、速度稳定环、位置环。电流环内置在驱动电路中,稳定速度环采用了PID型ADALINE网络控制器,与经典PID相比较有明显的优势。
论文最后部分提出了稳定精度测试方法,将机载吊舱安装在振动台上,振动台模拟出直升机的振动功率谱,然后测出系统的稳定精度。从实验结果分析,本系统稳定精度在30μrad以下,符合指标要求；从实拍图片看图像的显示效果较好,符合实际应用要求。
Airborone pod can stabilize the visual axis of optical system, so that it can monitior the condition outside the aircraft, and it has been used widely in the military area and eivil area. This paper focuses on the visual axis stabilization technology, and it includes passive vibration isolation and gyro stabilization technology. We fit shock absorber between inner frame and outside frame, and the way can cancel the high-frequency vibration of aircraft; The gyro stabilization technology is a closed-loop servo control technology, the actuator of the servo system is the DC torque motor,and the sensor is inertial gyro. This content also contains the current loop design of bipolar DC torque motor drive circuit and control circuit of TMS320LF2407A. Gyro stabilization technology mainly isolated the low-frequency vibration of aircraft.In order to advance system band width, the design adopt three loop control strategy, such as electric current loop, velocity stabilize loop, position loop. Electric current loop frame at in driver circuit, steady speed loop adopt adaline Network Controller based on PID, compared with classical PID it has obvious advantage.
Finally the paper give the test method of Stability index. Firstly,airborne pod is mounted on bench Simulating helicopter vibration;Then,we can test the Stability index of Airborone pod. From the experimental results, the Stability index is under 30μrad,and meet the index requirements; From pictures taken by Aircraft,it also meet the requirements of practical application.
本文重点研究视轴稳定技术,主要包括被动减振和惯性稳定技术。被动减振的方法是在机载吊舱内环和外环之间安装减振器,通过减振器隔离飞机载体耦合的高频振动。惯性稳定技术是一个闭环伺服控制技术,伺服系统的执行器是直流力矩电机,传感器是惯性陀螺仪。本文还设计了内置电流环的双极性直流力矩电机驱动电路和以TMS320LF2407A为主控器件的控制电路。惯性稳定技术主要隔离低频振动。为了提高系统带宽,本设计采用三环控制策略,分别为电流环、速度稳定环、位置环。电流环内置在驱动电路中,稳定速度环采用了PID型ADALINE网络控制器,与经典PID相比较有明显的优势。
论文最后部分提出了稳定精度测试方法,将机载吊舱安装在振动台上,振动台模拟出直升机的振动功率谱,然后测出系统的稳定精度。从实验结果分析,本系统稳定精度在30μrad以下,符合指标要求；从实拍图片看图像的显示效果较好,符合实际应用要求。
Airborone pod can stabilize the visual axis of optical system, so that it can monitior the condition outside the aircraft, and it has been used widely in the military area and eivil area. This paper focuses on the visual axis stabilization technology, and it includes passive vibration isolation and gyro stabilization technology. We fit shock absorber between inner frame and outside frame, and the way can cancel the high-frequency vibration of aircraft; The gyro stabilization technology is a closed-loop servo control technology, the actuator of the servo system is the DC torque motor,and the sensor is inertial gyro. This content also contains the current loop design of bipolar DC torque motor drive circuit and control circuit of TMS320LF2407A. Gyro stabilization technology mainly isolated the low-frequency vibration of aircraft.In order to advance system band width, the design adopt three loop control strategy, such as electric current loop, velocity stabilize loop, position loop. Electric current loop frame at in driver circuit, steady speed loop adopt adaline Network Controller based on PID, compared with classical PID it has obvious advantage.
Finally the paper give the test method of Stability index. Firstly,airborne pod is mounted on bench Simulating helicopter vibration;Then,we can test the Stability index of Airborone pod. From the experimental results, the Stability index is under 30μrad,and meet the index requirements; From pictures taken by Aircraft,it also meet the requirements of practical application.
引文
[1]陈瞄海.机载光电导航瞄准系统的应用和发展概况[J].电光与控制,2003,(11).
[2]孙隆和,吴广山.机载光电探测、跟踪、瞄准系统技术分析及发展研究[J].电光与控制,1995,(2)。
[3]李文魁,王俊璞,金志华,田蔚风直升机机载光电吊舱的发展现状及对策.中国惯性技术学报,2004年,12(5).85-90
[4]Miehael K.Masten, J.M. Hilkert. Electromechanical system configurations for pointing, tracking and stabilization applications. SPIE, Vol.779,1987.
[5]YlshayNetzer.Line-of-sight steering and stabilization. Optical Engineering,1982,21.
[6]纪明.二种光电稳定器的比较及分析[J].火力与指挥控制,1994,19(3).6065.
[7]Timothy P R, Megan M B, William E.C, Robert K.R.Stabilized Electro-optical Airborne Instrumentation Platform(SEAIP). Proceedings of SPIE,2004,5268:202-209.
[8]张施贤机载相机稳定平台伺服系统的研究.[硕士学位论文].南京：南京理工大学电力电子与电力传动系,2008.
[9]Michael K.Masten, J.M. Hilkert. Electromechanical System Configurations for Pointing, Tracking, and Stabilization Applications.SPIE,1987,779-784
[10]Yishay Netzer. Line-of-sight Steering and Stabilization.Optical Engineering.1982,21.
[11]纪世华.红外传感器瞄准线的稳定.舰船光学,1993,4.
[12]Jayesh Amin.Implementation of a Friction Estimation and Compensation Technique.IEEE Trans. on Control Systems, 1997,8.
[13]卢广山,姜长生,张宏.机载光电跟踪系统模糊控制的优化设计与仿真[J]航空学报,2002,23(1)：85-87
[14]刘钢,范大鹏,李圣怡.预测函数控制及其在火箭炮控制系统中的应用[fj｝.弹箭与制导学报,2003,23(3)：43-45.
[15]黄显林,尹航,工永富.高精度陀螺稳定跟踪神经网络预测控制[[J].系统工程与电子技术,2000,22(12)：63-65.
[16]Morari M, Zafiriou E. Robust Process Control[M]. NJ:Prentice Hall, Englewood Cliffs,1989
[17]Hongliu Du, Satish S. Nair. Modeling and compensation of low-velocity technique. IEEE Trans. On Control Systems, 1999,7(1).
[18]Jayesh Amin. Implementation of a friction estimation and compensation technique. IEEE Trans. On Control Systems, 1997,8.
[19]SlobodanN. Vukosavie. Suppression of torsional oscillations in a high-Performance speed servo Drive. IEEE Trans. On Industry Electronics,1998,45(1).
[20]虞汉文,韩普祥,郭光海.直升机振动响应计算方法研究.直升机技术,2006年第1期.17-22
[21]柳文林,穆志韬,段成美.直升机振动与减振特性分析.海军筑空工程学院学报.200419(5).533-536
[22]邵忍平,沈允文,刘更,徐敏.直升机旋翼传动系统固有振动特性的研究.机械科学与技术.199716(3).523-525
[23]赵鹏,杨牧,张葆.航空机载光学设备的振动分析及座架减震器的设计.光学精密工程.19975(3).58-63
[24]朱华征,范大鹏,马东玺,张文博.动载体光电成像系统视轴稳定精度研究.应用光学.200930(4).537-541
[25]安源,许晖,金光,史磊等.动载体光电平台角振动隔振设计.光电技术应用.200627(5).614-617
[26]Farshad K, Rastegar J S, Scott E R. Three-degree-of-freedom adaptive-passive isolator for launch vehicle payloads [J]. Proc.SPIE,2000,3991:164-175.
[27]Hadden S, Davis T, Buchele P, et al. Heavy load vibration isolation system for airborne payloads[J].Proc.SPIE,2001,4 332:171-182.
[28]王连明.中国科学院博士学位研究生学位论文[博士学位论文]长春：中国科学院长春光学精密机械与物理研究 所
[29]吉训生,王寿荣.MEMS陀螺仪随机漂移误差研究.宇航学报.200627(4).640-642
[30]王广龙,祖静,张文栋.微机械陀螺仪及其应用研究.电子测量与仪器学报.199913(2).30-32
[31]张建立,冯如鹏.基于LMS算法的自适应控制在稳定回路中的应用.红外与激光工程.200635(6).659-662
[32]陈伯时.电力拖动自动控制系统.机械工业出版社第三版
[33]刁小玲基于HIP4081的厚膜H桥电机驱动电路设计《现代电了技术》2009年4(291),8-10
[34]高钟毓.机电控制工程基础.清华大学出版社2002。
[35]Omid Shkernia.Yi Ma,Joao Hespanha and Shankar.Guided Landing of an Unmanned Air Vehicle[J].IEEE Conf.onsion and Control,1999
[36]李雷.大负载光电稳定平台技术研究.[博士学位论文]长春：长春理工大学博士论文
[37]张黎黎,黄一,吕俊芳.机载光电跟瞄平台伺服系统中电流环的设计与仿真.理论与实践.200323(6).15-21
[38]黄永梅,张桐,马佳光,付承毓.高精度跟踪控制系统中电流环控制技术研究.光电工程.200532(1).16-35
[39]Douglas DE CARLO, Dimitris METAXAS. The integration of optical flow and deformable models :application to human face shape and motion estimation[A]. Proc. IEEE Computer Vision and Pattern Recognition[C]. San Francisco, California, USA,1996.231-238.
[40]袁曾任.人工神经元网络及其应用.北京：清华大学出版社,1999.
[41]张乃尧、阎平凡.神经网络与模糊控制.北京：清华大学出版社,1998
[42]Kamal S. Ali,Dia L.Ali.A Neural Network Approach to Digital Control. SPIE,1998,3390.
[43]周业荣,李攀光.PID型ADALINE网络控制器理论分析及实现。四川水力发电.2002
[44]张寒松,杜建凤,严忠惠Adaline网络控制中初始权值的确定.机床与液压.2001
[2]孙隆和,吴广山.机载光电探测、跟踪、瞄准系统技术分析及发展研究[J].电光与控制,1995,(2)。
[3]李文魁,王俊璞,金志华,田蔚风直升机机载光电吊舱的发展现状及对策.中国惯性技术学报,2004年,12(5).85-90
[4]Miehael K.Masten, J.M. Hilkert. Electromechanical system configurations for pointing, tracking and stabilization applications. SPIE, Vol.779,1987.
[5]YlshayNetzer.Line-of-sight steering and stabilization. Optical Engineering,1982,21.
[6]纪明.二种光电稳定器的比较及分析[J].火力与指挥控制,1994,19(3).6065.
[7]Timothy P R, Megan M B, William E.C, Robert K.R.Stabilized Electro-optical Airborne Instrumentation Platform(SEAIP). Proceedings of SPIE,2004,5268:202-209.
[8]张施贤机载相机稳定平台伺服系统的研究.[硕士学位论文].南京：南京理工大学电力电子与电力传动系,2008.
[9]Michael K.Masten, J.M. Hilkert. Electromechanical System Configurations for Pointing, Tracking, and Stabilization Applications.SPIE,1987,779-784
[10]Yishay Netzer. Line-of-sight Steering and Stabilization.Optical Engineering.1982,21.
[11]纪世华.红外传感器瞄准线的稳定.舰船光学,1993,4.
[12]Jayesh Amin.Implementation of a Friction Estimation and Compensation Technique.IEEE Trans. on Control Systems, 1997,8.
[13]卢广山,姜长生,张宏.机载光电跟踪系统模糊控制的优化设计与仿真[J]航空学报,2002,23(1)：85-87
[14]刘钢,范大鹏,李圣怡.预测函数控制及其在火箭炮控制系统中的应用[fj｝.弹箭与制导学报,2003,23(3)：43-45.
[15]黄显林,尹航,工永富.高精度陀螺稳定跟踪神经网络预测控制[[J].系统工程与电子技术,2000,22(12)：63-65.
[16]Morari M, Zafiriou E. Robust Process Control[M]. NJ:Prentice Hall, Englewood Cliffs,1989
[17]Hongliu Du, Satish S. Nair. Modeling and compensation of low-velocity technique. IEEE Trans. On Control Systems, 1999,7(1).
[18]Jayesh Amin. Implementation of a friction estimation and compensation technique. IEEE Trans. On Control Systems, 1997,8.
[19]SlobodanN. Vukosavie. Suppression of torsional oscillations in a high-Performance speed servo Drive. IEEE Trans. On Industry Electronics,1998,45(1).
[20]虞汉文,韩普祥,郭光海.直升机振动响应计算方法研究.直升机技术,2006年第1期.17-22
[21]柳文林,穆志韬,段成美.直升机振动与减振特性分析.海军筑空工程学院学报.200419(5).533-536
[22]邵忍平,沈允文,刘更,徐敏.直升机旋翼传动系统固有振动特性的研究.机械科学与技术.199716(3).523-525
[23]赵鹏,杨牧,张葆.航空机载光学设备的振动分析及座架减震器的设计.光学精密工程.19975(3).58-63
[24]朱华征,范大鹏,马东玺,张文博.动载体光电成像系统视轴稳定精度研究.应用光学.200930(4).537-541
[25]安源,许晖,金光,史磊等.动载体光电平台角振动隔振设计.光电技术应用.200627(5).614-617
[26]Farshad K, Rastegar J S, Scott E R. Three-degree-of-freedom adaptive-passive isolator for launch vehicle payloads [J]. Proc.SPIE,2000,3991:164-175.
[27]Hadden S, Davis T, Buchele P, et al. Heavy load vibration isolation system for airborne payloads[J].Proc.SPIE,2001,4 332:171-182.
[28]王连明.中国科学院博士学位研究生学位论文[博士学位论文]长春：中国科学院长春光学精密机械与物理研究 所
[29]吉训生,王寿荣.MEMS陀螺仪随机漂移误差研究.宇航学报.200627(4).640-642
[30]王广龙,祖静,张文栋.微机械陀螺仪及其应用研究.电子测量与仪器学报.199913(2).30-32
[31]张建立,冯如鹏.基于LMS算法的自适应控制在稳定回路中的应用.红外与激光工程.200635(6).659-662
[32]陈伯时.电力拖动自动控制系统.机械工业出版社第三版
[33]刁小玲基于HIP4081的厚膜H桥电机驱动电路设计《现代电了技术》2009年4(291),8-10
[34]高钟毓.机电控制工程基础.清华大学出版社2002。
[35]Omid Shkernia.Yi Ma,Joao Hespanha and Shankar.Guided Landing of an Unmanned Air Vehicle[J].IEEE Conf.onsion and Control,1999
[36]李雷.大负载光电稳定平台技术研究.[博士学位论文]长春：长春理工大学博士论文
[37]张黎黎,黄一,吕俊芳.机载光电跟瞄平台伺服系统中电流环的设计与仿真.理论与实践.200323(6).15-21
[38]黄永梅,张桐,马佳光,付承毓.高精度跟踪控制系统中电流环控制技术研究.光电工程.200532(1).16-35
[39]Douglas DE CARLO, Dimitris METAXAS. The integration of optical flow and deformable models :application to human face shape and motion estimation[A]. Proc. IEEE Computer Vision and Pattern Recognition[C]. San Francisco, California, USA,1996.231-238.
[40]袁曾任.人工神经元网络及其应用.北京：清华大学出版社,1999.
[41]张乃尧、阎平凡.神经网络与模糊控制.北京：清华大学出版社,1998
[42]Kamal S. Ali,Dia L.Ali.A Neural Network Approach to Digital Control. SPIE,1998,3390.
[43]周业荣,李攀光.PID型ADALINE网络控制器理论分析及实现。四川水力发电.2002
[44]张寒松,杜建凤,严忠惠Adaline网络控制中初始权值的确定.机床与液压.2001