航空光電穩(wěn)定平臺擾動抑制技術(shù)的研究
發(fā)布時間：2018-08-08 15:05
【摘要】：航空光電穩(wěn)定平臺廣泛應(yīng)用于敵情偵察、目標定位、打擊校射和效果評估等領(lǐng)域。其中，視軸的穩(wěn)定精度是衡量其性能的一項關(guān)鍵指標，穩(wěn)定精度越高，航空光電穩(wěn)定平臺成像越清晰，信息獲取越準確。然而在實際工作過程中，飛機飛行姿態(tài)的不斷變化，發(fā)動機的振動、氣流擾動等因素均會導(dǎo)致驅(qū)動電機的輸出力矩不能夠完全準確地驅(qū)動框架，如此一來，便使得視軸不能按照期望的方式穩(wěn)定在目標位置。由此可見，如何提高系統(tǒng)的擾動抑制能力，是提高航空光電穩(wěn)定平臺視軸穩(wěn)定精度的關(guān)鍵技術(shù)之一。 本文對兩軸四框架航空光電穩(wěn)定平臺中的擾動作用原理進行深入研究，并提出了主動抗擾與被動抗擾相結(jié)合的引導(dǎo)型自抗擾控制策略對系統(tǒng)中的擾動進行抑制。本文研究的主要內(nèi)容如下： 1.本文首先根據(jù)兩軸四框架光電穩(wěn)定平臺的結(jié)構(gòu)，從系統(tǒng)運動學(xué)動力學(xué)耦合方程出發(fā)，提出了減小框架間耦合的具體方法。從機械結(jié)構(gòu)優(yōu)化設(shè)計的角度，對兩軸四框架光電穩(wěn)定平臺的控制系統(tǒng)提出了設(shè)計要求。 2.對平臺中每一框架均進行了電流環(huán)設(shè)計，以保證電機的輸出力矩恒定。并結(jié)合航空光電穩(wěn)定平臺的工作特點，對系統(tǒng)中的各種干擾進行綜合分析，并按照其作用位置將其分為模型干擾、電機干擾、力矩干擾等三類，以此為依據(jù)，采用“等效擾動電壓”的方式建立了系統(tǒng)的被控模型，如此一來，不僅避免了各種擾動力矩復(fù)雜的建模過程，同時為主動抗擾策略的應(yīng)用奠定了基礎(chǔ)。 3.在速度穩(wěn)定回路中，分別采用平方滯后控制器和平方PI控制器，顯著地提高了低頻段的開環(huán)增益，取得了令人滿意的被動抗擾效果。詳細論述了采用傳統(tǒng)控制策略時，系統(tǒng)擾動隔離度受機械諧振頻率嚴格限制的原因，進而引入快速反射鏡，從結(jié)構(gòu)設(shè)計的角度進一步發(fā)揮了傳統(tǒng)控制策略對擾動的抑制能力。同時，在不改變機械結(jié)構(gòu)單純依靠控制策略的角度，提出了二級引導(dǎo)型自抗擾控制器，以主動與被動相結(jié)合的方式進一步對系統(tǒng)中的擾動進行抑制，極大程度的提高了系統(tǒng)的擾動隔離度。 4.在飛行模擬轉(zhuǎn)臺中測試二級引導(dǎo)型自抗擾控制器對2.5Hz以內(nèi)任意頻率擾動的抑制能力，并與目前航空光電穩(wěn)定平臺中常用的平方滯后超前校正方法進行對比。實驗結(jié)果表明：相比于傳統(tǒng)的平方滯后控制器，采用引導(dǎo)型自抗擾控制器，系統(tǒng)的擾動隔離度至少提高8.52dB，且隨著擾動頻率大于0.5Hz，，該控制器的擾動抑制能力更為明顯，擾動隔離度最多提高了13.06dB；同時，引導(dǎo)型自抗擾控制器具有很強的魯棒性，允許被控對象參數(shù)在15%的范圍內(nèi)任意變化；除此之外，在高低溫和振動沖擊等可靠性實驗中，“引導(dǎo)型”自抗擾控制器也表現(xiàn)出至少優(yōu)于傳統(tǒng)平方滯后控制器1倍以上的性能，充分體現(xiàn)了“引導(dǎo)型”自抗擾控制器的優(yōu)越性，對提高航空光電穩(wěn)定平臺控制系統(tǒng)的抗擾動性能具有較高的實用價值。
[Abstract]:Aerial photoelectricity stabilization platform is widely used in enemy reconnaissance, target positioning, attack and effect evaluation. The stability accuracy of the view axis is a key index to measure its performance. The higher the stability accuracy is, the clearer the aerial photostable platform imaging is, the more accurate the information is obtained. However, in the actual working process, the flight posture of the aircraft. The constant change of the state, the vibration of the engine, the turbulence of the airflow and other factors will cause the driving motor's output torque not to be able to drive the frame completely and accurately, so that the view axis can not be stabilized in the desired position in the desired way. Thus, how to improve the disturbance rejection ability of the system is to improve the aircraft photoelectric stabilization platform. One of the key techniques for the stability of the axis of view.
In this paper, the principle of disturbance in the two axis four frame aerial photoelectricity stabilized platform is studied, and the guided self disturbance rejection control strategy of active and passive anti-interference is proposed to suppress the disturbance in the system. The main contents of this paper are as follows:
1. firstly, based on the structure of the two axis and four frame photoelectric stable platform, the concrete method of reducing the coupling between the frames is proposed from the coupling equation of the system kinematics and dynamics, and the design requirements for the control system of the two axis and four frame photoelectric stable platform are put forward from the angle of the optimization design of the mechanical structure.
2. for each frame in the platform, the current loop is designed to ensure that the output torque of the motor is constant. Combined with the working characteristics of the aviation photoelectric stable platform, the various interference in the system is analyzed synthetically, and it is divided into three kinds, such as model interference, motor interference and moment interference according to its position, based on the "wait". The control model of the system is established in the way of disturbing voltage, which not only avoids the complex modeling process of disturbance torque, but also lays the foundation for the application of active disturbance rejection strategy.
3. in the speed stabilization loop, the square lag controller and the square PI controller are adopted respectively. The open loop gain of the low frequency section is greatly improved and the passive interference effect is satisfactory. The reason that the system disturbance isolation is strictly limited by the mechanical resonance frequency is discussed in detail when the traditional control strategy is adopted, and the fast reflection is introduced. The mirror, from the angle of structure design, further exerts the restraining ability of the traditional control strategy to the disturbance. At the same time, the two stage guided self disturbance rejection controller is put forward without changing the mechanical structure simply depending on the control strategy. It can further suppress the disturbance in the system with the combination of active and passive. The disturbance isolation of the system.
4. test the suppression ability of the two stage guided self disturbance rejection controller to the arbitrary frequency disturbance within 2.5Hz in the flight simulation turntable and compare with the usual square lag correction method in the current aerial photostabilization platform. The experimental results show that the guided self disturbance rejection controller is used compared to the traditional square hysteresis controller. The disturbance isolation of the system increases at least 8.52dB, and with the disturbance frequency greater than 0.5Hz, the disturbance rejection capability of the controller is more obvious, and the disturbance isolation degree is up to 13.06dB, and the guided auto disturbance rejection controller has strong robustness, allowing the parameters of the controlled object to change arbitrarily within the range of 15%; in addition, it is high. In the reliability experiments of low temperature and vibration shock, the "guided" self disturbance rejection controller shows the performance of at least 1 times more than the traditional square lag controller. It fully embodies the superiority of the "guided" self disturbance rejection controller and has a high practical value for improving the anti disturbance performance of the aero photoelectric stabilization platform control system.
【學(xué)位授予單位】：中國科學(xué)院研究生院(長春光學(xué)精密機械與物理研究所)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：V241;TB535
本文編號：2172159
[Abstract]:Aerial photoelectricity stabilization platform is widely used in enemy reconnaissance, target positioning, attack and effect evaluation. The stability accuracy of the view axis is a key index to measure its performance. The higher the stability accuracy is, the clearer the aerial photostable platform imaging is, the more accurate the information is obtained. However, in the actual working process, the flight posture of the aircraft. The constant change of the state, the vibration of the engine, the turbulence of the airflow and other factors will cause the driving motor's output torque not to be able to drive the frame completely and accurately, so that the view axis can not be stabilized in the desired position in the desired way. Thus, how to improve the disturbance rejection ability of the system is to improve the aircraft photoelectric stabilization platform. One of the key techniques for the stability of the axis of view.
In this paper, the principle of disturbance in the two axis four frame aerial photoelectricity stabilized platform is studied, and the guided self disturbance rejection control strategy of active and passive anti-interference is proposed to suppress the disturbance in the system. The main contents of this paper are as follows:
1. firstly, based on the structure of the two axis and four frame photoelectric stable platform, the concrete method of reducing the coupling between the frames is proposed from the coupling equation of the system kinematics and dynamics, and the design requirements for the control system of the two axis and four frame photoelectric stable platform are put forward from the angle of the optimization design of the mechanical structure.
2. for each frame in the platform, the current loop is designed to ensure that the output torque of the motor is constant. Combined with the working characteristics of the aviation photoelectric stable platform, the various interference in the system is analyzed synthetically, and it is divided into three kinds, such as model interference, motor interference and moment interference according to its position, based on the "wait". The control model of the system is established in the way of disturbing voltage, which not only avoids the complex modeling process of disturbance torque, but also lays the foundation for the application of active disturbance rejection strategy.
3. in the speed stabilization loop, the square lag controller and the square PI controller are adopted respectively. The open loop gain of the low frequency section is greatly improved and the passive interference effect is satisfactory. The reason that the system disturbance isolation is strictly limited by the mechanical resonance frequency is discussed in detail when the traditional control strategy is adopted, and the fast reflection is introduced. The mirror, from the angle of structure design, further exerts the restraining ability of the traditional control strategy to the disturbance. At the same time, the two stage guided self disturbance rejection controller is put forward without changing the mechanical structure simply depending on the control strategy. It can further suppress the disturbance in the system with the combination of active and passive. The disturbance isolation of the system.
4. test the suppression ability of the two stage guided self disturbance rejection controller to the arbitrary frequency disturbance within 2.5Hz in the flight simulation turntable and compare with the usual square lag correction method in the current aerial photostabilization platform. The experimental results show that the guided self disturbance rejection controller is used compared to the traditional square hysteresis controller. The disturbance isolation of the system increases at least 8.52dB, and with the disturbance frequency greater than 0.5Hz, the disturbance rejection capability of the controller is more obvious, and the disturbance isolation degree is up to 13.06dB, and the guided auto disturbance rejection controller has strong robustness, allowing the parameters of the controlled object to change arbitrarily within the range of 15%; in addition, it is high. In the reliability experiments of low temperature and vibration shock, the "guided" self disturbance rejection controller shows the performance of at least 1 times more than the traditional square lag controller. It fully embodies the superiority of the "guided" self disturbance rejection controller and has a high practical value for improving the anti disturbance performance of the aero photoelectric stabilization platform control system.
【學(xué)位授予單位】：中國科學(xué)院研究生院(長春光學(xué)精密機械與物理研究所)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：V241;TB535
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