摘要
机载光电平台稳定与跟踪系统由于受到外部各种干扰的影响,需要首先建立一个稳定控制回路。稳定回路是实现高精度跟踪的基础,稳定回路设计的好坏直接影响着整个光电跟瞄系统的跟踪性能。本论文主要对机载光电平台的稳定回路控制问题进行了研究。
首先概述了国内外光电平台发展现状;分析了机载光电跟瞄系统中影响视轴稳定的因素及目前常用的视轴稳定方法;结出了对系统稳定精度的性能要求。
结合实际要求,系统采用四框架二轴稳定结构平台,应用整体稳定的视轴稳定方式,用直流力矩电机直接驱动,以光纤陀螺作为敏感平台角运动的测量元件;通过公式推导和实验测量得到了电机负载特性和光纤陀螺的数学模型,并对模型进行相应的处理以方便系统分析与设计;从理论上分析了两轴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了理论依据。
从伺服刚度指标的概念出发,通过分析指出了提高系统稳定精度的途径;并根据系统稳定精度的要求,采用经典控制方法设计了稳定回路校正控制器,并进行了仿真,给出了仿真结果。
由于系统采用光纤陀螺作为惯性元件来敏感平台角速率,从高频和低频两方面分析了光纤陀螺噪声对系统输出的影响;并分别指出了抑制光纤陀螺高、低噪声的有效措施。
针对系统中存在的由于负载(CCD摄像机)可变带来的模型不确定性问题,应用Popov超稳定性理论设计了模型参考自适应控制器,通过仿真对系统的鲁棒性进行了分析,而且对引入自适应环对系统的抗干扰性影响也进行了分析。
In stabilizing and tracking system of opto-electronic platform, a stabilizing control loop must be designed firstly because of various external disturbances. The stabilizing loop is the base of the high-precision tracking and the design of stabilizing loop affects the whole tracking system’s performance directly. The control problems about the stabilizing loop of the airborne opto-electronic platform are discussed in this dissertation.
Firstly the development of the opto-electronic platform in home and abroad was summarized. The facts that affect the stabilizing of the line-of-sight(LOS) and the stabilizing methods in common use at the present time were analyzed. And then the performance of the stabilization precision we want came out.
In accordance with practical requirement, this system applys a platform with four frame but two stabilizing axes, adopts whole stabilizing method,and use direct current moment motor as a driver and fiber optic gyroscope(FOG) as the angle velocity sensor. The mathematics models of the motor and FOG were founded through experment measures and were predigested to analyze and design the controller expediently. The principal of how movement of airplane can be isolated by a two-axis platform is analyzed theoretically. Requirements of stabilization of LOS to servo system are put forward which provide the basis of theory for designing servo system.
From the defination of the index of servo toughness, the approach of how to improve the stabilization precision is pointed out through some analysis. The controller in stabilizing loop was designed according to the requirement of the stabilizing accuracy with the frequence field responsing method. Also, there were the results of the simulation shown in figures.
The effect of the noise of the FOG to the system ouput was analyzed from two sides of low and high frequence, and effective steps to suppress the noise of FOG were pointed out.
The Popov’s hyperstability theory was applied to design a model reference adaptive controller(MRAC) in allusion to the problem of model uncertainty which results from the variable load. And the robustness and the anti-jamming of the system were analyzed through the simulation.
引文
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