机载光电吊舱陀螺稳定系统智能控制研究
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摘要
随着精确制导武器技术的不断发展,机载光电吊舱已成为精确打击和跟踪系统中的重要组成部分。它能隔离载体的振动对光电传感器指向的影响,同时,它利用光电传感器完成对目标的搜索、定位、跟踪。发展航空光电吊舱对我国的国防建设具有非常重大的意义。
本文以机载光电吊舱陀螺稳定系统为研究对象,建立吊舱模型。该吊舱模型为一个两轴伺服系统,方位轴和俯仰轴都由速度环回路和位置环回路构成。由于航空光电吊舱是一个具有大延迟、非线性而又要求高跟踪和稳定精度的系统,对控制器的设计要求较高。本文采用模糊PID对系统控制器进行设计,分别对各轴的速度环采用经典PID控制器,位置环采用模糊PID控制器。Matlab仿真表明,采用模糊PID控制器后,系统性能较经典PID控制器改善了控制系统的过渡过程、减小超调量,又提高了系统跟踪精度、稳定精度和响应速度。模糊PID控制可显著改善控制系统对高速动态目标的捕获跟踪能力,提高跟踪精度,增强系统的鲁棒性。
最后,本文给出了常见的几种预测方法,如多项式拟合法、Kalman预报器、隔点Kalman组合预报器和稳态Kalman预报器等,来解决延迟问题。
With the development of the Precision Guided Weapon technique, airborne optoelectronic pod has become an important part of fighter precise attack system. It could isolate pointing axis from the vehicle oscillation. And it can search, localize and track targets with optoelectronic sensors. It is very important for the national defense construction of our country to develop airborne optoelectronic pod.
This paper mainly focuses on the study of airborne optoelectronic pod and its mathematic model. The pod includes two axes servo systems, speed loop and position loop. The design of its controller is relatively challenging because the airborne optoelectronic pod is a system which has the great delay, nonlinearity and requirement of high-precision tracking. The design based on Fuzzy-PID control is proposed in this paper with the method PID controller in the speed loop and Fuzzy-PID controller in the position loop. The simulation by Matlab indicates that the system performance is improved effectively compared with traditional PID controller. Fuzzy-PID controller could shorten the transient process, reduce the overshoot and enhance the tracking accuracy. Fuzzy-PID helps system advance the ability to track the high-speed target, to improve the tracking accuracy androbustness of control system.
Finally this paper discusses some common prediction methods, such as polynomial fitting Method, Kalman predictor, composed Kalman leap prediction, steady-state Kalman predictor to solve the problem of great delay.
本文以机载光电吊舱陀螺稳定系统为研究对象,建立吊舱模型。该吊舱模型为一个两轴伺服系统,方位轴和俯仰轴都由速度环回路和位置环回路构成。由于航空光电吊舱是一个具有大延迟、非线性而又要求高跟踪和稳定精度的系统,对控制器的设计要求较高。本文采用模糊PID对系统控制器进行设计,分别对各轴的速度环采用经典PID控制器,位置环采用模糊PID控制器。Matlab仿真表明,采用模糊PID控制器后,系统性能较经典PID控制器改善了控制系统的过渡过程、减小超调量,又提高了系统跟踪精度、稳定精度和响应速度。模糊PID控制可显著改善控制系统对高速动态目标的捕获跟踪能力,提高跟踪精度,增强系统的鲁棒性。
最后,本文给出了常见的几种预测方法,如多项式拟合法、Kalman预报器、隔点Kalman组合预报器和稳态Kalman预报器等,来解决延迟问题。
With the development of the Precision Guided Weapon technique, airborne optoelectronic pod has become an important part of fighter precise attack system. It could isolate pointing axis from the vehicle oscillation. And it can search, localize and track targets with optoelectronic sensors. It is very important for the national defense construction of our country to develop airborne optoelectronic pod.
This paper mainly focuses on the study of airborne optoelectronic pod and its mathematic model. The pod includes two axes servo systems, speed loop and position loop. The design of its controller is relatively challenging because the airborne optoelectronic pod is a system which has the great delay, nonlinearity and requirement of high-precision tracking. The design based on Fuzzy-PID control is proposed in this paper with the method PID controller in the speed loop and Fuzzy-PID controller in the position loop. The simulation by Matlab indicates that the system performance is improved effectively compared with traditional PID controller. Fuzzy-PID controller could shorten the transient process, reduce the overshoot and enhance the tracking accuracy. Fuzzy-PID helps system advance the ability to track the high-speed target, to improve the tracking accuracy androbustness of control system.
Finally this paper discusses some common prediction methods, such as polynomial fitting Method, Kalman predictor, composed Kalman leap prediction, steady-state Kalman predictor to solve the problem of great delay.
引文
[1]李文魁,王俊璞,金志华,等.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.2004,12(5):75-80页
[2]陈苗海.机载光电导航瞄准系统的应用和发展概况.电光与控制.2003,10(4):42-46页
[3]李红民,王炬,郭蕾.国外武装直升机光电系统的发展动态.电光与控制.2005,12(1):86—89页
[4]贾平,张葆.航空光电侦察平台关键技术及其发展.光学精密工程.2003,11(1):82—88页
[5]张纯学,美军的三种新型吊舱.飞航导弹.2005,5(3):7页
[6]陈苗海.机载光电导航瞄准系统的应用和发展概况.电光与控制.2003,10(4):42-46页
[7]吴欣.先进的飞机瞄准吊舱.现代兵器.2002,10:28-31页
[8]毛小南.机载侦察吊舱一瞥.现代兵器.1997,1(1):30-31页
[9]贾平,张葆.航空光电侦察平台关键技术及其发展.光学精密工程.2003,11(1):82—88页
[10]李红民,王炬,郭蕾.国外武装直升机光电系统的发展动态.电光与控制.2005,12(1):86-89页
[11]Rue A K.Stabilization of precision electro-optical pointing and tracking systems.IEEE Trans A erospace and Electronic Systems.1969,AES-5:805-819P
[12]Ali K S,Ali D L.A Neural Network Approach to Digital Control.SPIE.1998,3390:208-218P
[13]Kevin Murphy,Scott Goldblatt,Jefferry Warren,ect.Pointing and stabilization system for use in a high-alatitude hovering helicopter.1999,SPIE Vol.3692P
[14]车宏,卢广山.模糊控制在机载光电跟踪系统中的应用.电光与控 制.2001,84(4):15—20页
[15]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.航空学报.2002,23(1):85-87页
[16]郑文杰,张刁睿.模糊控制理论的特点及发展.焦作大学学报.2006,4:73-74页
[17]崔涛,赵莉.模糊控制理论和应用的发展概况.自动化仪表.2002,23(7):1-3页
[18]陈霞,陈广林.模糊控制理论的发展与应用.煤矿现代化.2004,60(3):34-35页
[19]王毅,高红岩,王晓明.模糊控制理论在新技术评价中的应用.太原科技大学学报,2006,27(4):259-272页
[20]曹伟.模糊控制理论的发展及应用.高师理科学报.2007,27(3):43-45页
[21]汤兵勇.模糊控制理论与应用技术.北京:清华大学出版社,2002:28-30页
[22]耿延洛,王合龙,周洪武.机载光电探测跟踪系统总体精度分析方法研究.电光与控制.2004,11(2):18-20页
[23]Testing and.Evaluation of Tactical electro-optical Sensors.Conference on Infrared and Passive Millimeter-Wave Imaging System.Orlando.2OO2
[24]张荆,苏泽清,黄青.机载光电火控系统的精度分析.红外与激光工程.1999,28(5):55-59
[25]何克忠.计算机控制系统.北京:清华大学出版社,1998:150-171页
[26]孙增圻.计算机控制理论及应用.北京:清华大学出版社,1998:25-35页
[27]郑大钟.线性系统理论.北京:清华大学出版社,1995:1-49页
[28]李士勇.模糊控制*神经控制和智能控制论.北京:哈尔滨工业大学出版社,1998:23—71页
[29]汤兵勇.模糊控制理论与应用技术.北京:清华大学出版社,2002:28-30页
[30]庄利峰,杨慧军.模糊自适应PID控制器的设计及应用.自动化与仪表.2005,(3):285-289页
[31]章卫国,杨向忠.模糊控制理论与应用.西安:西北工业出版社,57-64页
[32]诸静.模糊控制原理与应用.北京:机械工业出版社,2005:368-375页
[33]曾光奇,胡均安,王东,刘春玲.模糊控制理论与工程应用.武汉:华中科技大学出版社,2006:1-105页
[34]刘金琨.先进PID控制-MATLAB仿真.北京:电子工业出版社,2006:115-129页
[35]刘曙光,魏俊民,竺志超.模糊控制技术.北京:中国纺织出版社,2001:1-85页
[36]薛定宇.控制系统计算机辅助设计-MATLAB语言与应用.北京:清华大学出版社,2006:372-383页
[37]张尚剑,刘永智.用滑动窗多项式拟合法实时预测运动目标轨迹.2003,30(4):24-27页
[38]陈广义,吴继周,董德发,等.模型系数的最小二乘法拟合.石油学报.1994,15(2):161-165页
[39]ALAN Jennings.工程和科学的矩阵算法.北京:清华大学出版社,1985P
[40]YANG Weiqin,JIA Zhaohui.An Effective Multiple Model Least Squares Method in Tracking of a Maneuvering Target.Journal of Beijing Institute of Technology.1995,4(1):29-35P
[41]徐智勇,傅承毓,王满意,等.用拟合函数法准确预测运动目标的轨迹.光电工程.2000,27(1):17—19页
[42]HUANG Yongmei,MA Jiaguang,FU Chengyu.Simulation for the application of prediction filtering technique in photoelectric theodolite.Opto-electronic Engineering.2002,29(4):5-9P
[43]WANG Lianming,GE Wenqi,LI Jie.Adaptive prediction and compensation method for delay of tracker in tracking system.Opto-electronic Engineering.2002,29(4):13-16P
[44]高媛,王欣,毛琳.信息融合超前k步稳态最优Kalman预报器和Wiener 预报器.黑龙江大学自然科学学报.2005,22(3):346-349页
[45]Gan Q,Harris C J.Comparison of two measurement fusion methods for Kalman filter based multi-sensor data fusion.IEEE Trans on Aerospace and Electronic Systems.2001,37(1):273-280P
[46]邓自立.信息融合滤波理论及其应用.哈尔滨:哈尔滨工业大学出版社,2007:86-125页
[47]Sun Shu-Li.Multi-sensor information fusion white noise filter weighted by scalars based Kalman predictor.Automatica.2004,40(8):1447-1453页.
[48]邓自立,毛琳.多传感器分布式融合Kalman预报器.电子与信息学报.2006,28(9):1542—1545页
[49]何友,王国宏,陆大金,等.多传感器信息融合及其应用.北京:电子工业出版社,2000:1—133页
[50]马静,孙书立.随机奇异系统多传感器信息融合Kalman多步预报器.科学技术与工程.2006,6f6):669-674页
[51]李春波,邓自立.自校正信息融合Kalman预报器.科学技术与工程.2006,6(5):513-518页
[52]袁洪印,郭立红,谭振江,等.组合Kalman隔点预测法用于跟踪机动目标的仿真研究.光学精密工程.2004,12(2):169—172页
[53]邓自立,高媛.两传感器融合超前k步稳态最优Kalman预报器.科学技术与工程.2004,4(5):337-340页
[2]陈苗海.机载光电导航瞄准系统的应用和发展概况.电光与控制.2003,10(4):42-46页
[3]李红民,王炬,郭蕾.国外武装直升机光电系统的发展动态.电光与控制.2005,12(1):86—89页
[4]贾平,张葆.航空光电侦察平台关键技术及其发展.光学精密工程.2003,11(1):82—88页
[5]张纯学,美军的三种新型吊舱.飞航导弹.2005,5(3):7页
[6]陈苗海.机载光电导航瞄准系统的应用和发展概况.电光与控制.2003,10(4):42-46页
[7]吴欣.先进的飞机瞄准吊舱.现代兵器.2002,10:28-31页
[8]毛小南.机载侦察吊舱一瞥.现代兵器.1997,1(1):30-31页
[9]贾平,张葆.航空光电侦察平台关键技术及其发展.光学精密工程.2003,11(1):82—88页
[10]李红民,王炬,郭蕾.国外武装直升机光电系统的发展动态.电光与控制.2005,12(1):86-89页
[11]Rue A K.Stabilization of precision electro-optical pointing and tracking systems.IEEE Trans A erospace and Electronic Systems.1969,AES-5:805-819P
[12]Ali K S,Ali D L.A Neural Network Approach to Digital Control.SPIE.1998,3390:208-218P
[13]Kevin Murphy,Scott Goldblatt,Jefferry Warren,ect.Pointing and stabilization system for use in a high-alatitude hovering helicopter.1999,SPIE Vol.3692P
[14]车宏,卢广山.模糊控制在机载光电跟踪系统中的应用.电光与控 制.2001,84(4):15—20页
[15]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.航空学报.2002,23(1):85-87页
[16]郑文杰,张刁睿.模糊控制理论的特点及发展.焦作大学学报.2006,4:73-74页
[17]崔涛,赵莉.模糊控制理论和应用的发展概况.自动化仪表.2002,23(7):1-3页
[18]陈霞,陈广林.模糊控制理论的发展与应用.煤矿现代化.2004,60(3):34-35页
[19]王毅,高红岩,王晓明.模糊控制理论在新技术评价中的应用.太原科技大学学报,2006,27(4):259-272页
[20]曹伟.模糊控制理论的发展及应用.高师理科学报.2007,27(3):43-45页
[21]汤兵勇.模糊控制理论与应用技术.北京:清华大学出版社,2002:28-30页
[22]耿延洛,王合龙,周洪武.机载光电探测跟踪系统总体精度分析方法研究.电光与控制.2004,11(2):18-20页
[23]Testing and.Evaluation of Tactical electro-optical Sensors.Conference on Infrared and Passive Millimeter-Wave Imaging System.Orlando.2OO2
[24]张荆,苏泽清,黄青.机载光电火控系统的精度分析.红外与激光工程.1999,28(5):55-59
[25]何克忠.计算机控制系统.北京:清华大学出版社,1998:150-171页
[26]孙增圻.计算机控制理论及应用.北京:清华大学出版社,1998:25-35页
[27]郑大钟.线性系统理论.北京:清华大学出版社,1995:1-49页
[28]李士勇.模糊控制*神经控制和智能控制论.北京:哈尔滨工业大学出版社,1998:23—71页
[29]汤兵勇.模糊控制理论与应用技术.北京:清华大学出版社,2002:28-30页
[30]庄利峰,杨慧军.模糊自适应PID控制器的设计及应用.自动化与仪表.2005,(3):285-289页
[31]章卫国,杨向忠.模糊控制理论与应用.西安:西北工业出版社,57-64页
[32]诸静.模糊控制原理与应用.北京:机械工业出版社,2005:368-375页
[33]曾光奇,胡均安,王东,刘春玲.模糊控制理论与工程应用.武汉:华中科技大学出版社,2006:1-105页
[34]刘金琨.先进PID控制-MATLAB仿真.北京:电子工业出版社,2006:115-129页
[35]刘曙光,魏俊民,竺志超.模糊控制技术.北京:中国纺织出版社,2001:1-85页
[36]薛定宇.控制系统计算机辅助设计-MATLAB语言与应用.北京:清华大学出版社,2006:372-383页
[37]张尚剑,刘永智.用滑动窗多项式拟合法实时预测运动目标轨迹.2003,30(4):24-27页
[38]陈广义,吴继周,董德发,等.模型系数的最小二乘法拟合.石油学报.1994,15(2):161-165页
[39]ALAN Jennings.工程和科学的矩阵算法.北京:清华大学出版社,1985P
[40]YANG Weiqin,JIA Zhaohui.An Effective Multiple Model Least Squares Method in Tracking of a Maneuvering Target.Journal of Beijing Institute of Technology.1995,4(1):29-35P
[41]徐智勇,傅承毓,王满意,等.用拟合函数法准确预测运动目标的轨迹.光电工程.2000,27(1):17—19页
[42]HUANG Yongmei,MA Jiaguang,FU Chengyu.Simulation for the application of prediction filtering technique in photoelectric theodolite.Opto-electronic Engineering.2002,29(4):5-9P
[43]WANG Lianming,GE Wenqi,LI Jie.Adaptive prediction and compensation method for delay of tracker in tracking system.Opto-electronic Engineering.2002,29(4):13-16P
[44]高媛,王欣,毛琳.信息融合超前k步稳态最优Kalman预报器和Wiener 预报器.黑龙江大学自然科学学报.2005,22(3):346-349页
[45]Gan Q,Harris C J.Comparison of two measurement fusion methods for Kalman filter based multi-sensor data fusion.IEEE Trans on Aerospace and Electronic Systems.2001,37(1):273-280P
[46]邓自立.信息融合滤波理论及其应用.哈尔滨:哈尔滨工业大学出版社,2007:86-125页
[47]Sun Shu-Li.Multi-sensor information fusion white noise filter weighted by scalars based Kalman predictor.Automatica.2004,40(8):1447-1453页.
[48]邓自立,毛琳.多传感器分布式融合Kalman预报器.电子与信息学报.2006,28(9):1542—1545页
[49]何友,王国宏,陆大金,等.多传感器信息融合及其应用.北京:电子工业出版社,2000:1—133页
[50]马静,孙书立.随机奇异系统多传感器信息融合Kalman多步预报器.科学技术与工程.2006,6f6):669-674页
[51]李春波,邓自立.自校正信息融合Kalman预报器.科学技术与工程.2006,6(5):513-518页
[52]袁洪印,郭立红,谭振江,等.组合Kalman隔点预测法用于跟踪机动目标的仿真研究.光学精密工程.2004,12(2):169—172页
[53]邓自立,高媛.两传感器融合超前k步稳态最优Kalman预报器.科学技术与工程.2004,4(5):337-340页