机载多框架稳定平台控制技术研究

发布时间：2018-10-16 14:44

【摘要】：多框架稳定平台是一种安装在运动载体上的设备,该设备可以保证安装在其上的对象在一定的空间范围内的方位相对保持不变。在被稳定对象受到一定的力矩和外界干扰的时候,调节稳定对象方位使其满足预设要求。多框架稳定平台多用于跟踪地面或者空中目标。当载体姿态角发生变化时,稳定跟踪平台可隔离载体的干扰运动,保证跟踪探测设备可以精确,快速的跟踪目标。随着光、机、电等技术的发展,多框架稳定平台也得到了快速的发展,其在军用和民用方面也越来越广泛。军事方面主要用于无人机、武器系统搭载平台、弹箭制导等。民用方面主要用于环境监测、空间遥测、公安消防等领域。本文以某型两轴四框架稳定平台为研究对象,采用从理论到实践的方法对平台的原理、平台的模型、平台控制策略、平台控制系统实现等方面进行了分析与研究。首先,本文对两轴四框架稳定平台的原理进行了分析,分析影响多框架稳定平台视轴稳定的因素,然后根据对应的影响因素提出了几种视轴稳定的方法,如整体稳定法、光学稳定法、电子学稳定法、动量稳定法等;紧接着分析了多框架稳定平台的工作原理,根据坐标稳定关系推出两轴四框架平台的运动学方程式,同时对隔离载体扰动原理进行了分析。其次,本文针对两轴四框架稳定平台的功能需求进行了分析,并设计了相应的伺服控制回路。研究了两轴四框架稳定平台的控制系统回路:速率稳定回路、自动跟踪回路、位置随动回路,重点分析了多框架自动跟踪回路。同时对控制回路中的组成元件进行了数学建模。再次,针对两轴四框架稳定平台系统的稳定精度的影响因素进行了分析,分析了速率稳定回路的结构,提出FAKPID控制法,进一步提高了系统的稳态性能和抗干扰性能。同时对自动跟踪回路和位置随动回路的校正环节进行了研究,并设计了相应的控制器。最后针对两轴四框架稳定平台研制了原理样机,对该原理样机的硬件组成进行了介绍。同时通过对四框架稳定平台的控制系统实验,验证本文所做研究的正确性。
[Abstract]:The multi-frame stabilized platform is a kind of equipment which is installed on the motion carrier. The equipment can ensure that the orientation of the object installed on the platform remains relatively unchanged in a certain space range. When the stabilized object is subjected to a certain moment and external disturbance, the orientation of the stabilized object is adjusted to meet the preset requirements. Multi-frame stabilization platforms are used to track ground or air targets. When the attitude angle of the carrier changes, the stable tracking platform can isolate the interference motion of the carrier and ensure that the tracking and detecting equipment can track the target accurately and quickly. With the development of light, machine, electricity and other technologies, multi-frame stabilization platform has been developed rapidly, and it is more and more widely used in military and civilian fields. Military is mainly used in UAV, weapon system platform, missile guidance and so on. Civil aspects are mainly used in environmental monitoring, space telemetry, public security fire protection and other fields. In this paper, a two-axis and four-frame stabilized platform is taken as the research object. The principle, model, control strategy and the realization of the platform control system are analyzed and studied by the method from theory to practice. Firstly, the principle of two-axis and four-frame stabilized platform is analyzed, and the factors that affect the stability of multi-frame stabilized platform are analyzed. Then, according to the corresponding factors, several methods of stabilizing the view axis are proposed, such as global stability method. Optical stability method, electronic stability method, momentum stability method, etc. Then, the working principle of multi-frame stabilized platform is analyzed, and the kinematics equation of two-axis and four-frame platform is deduced according to the coordinate stability relation. At the same time, the principle of isolating carrier disturbance is analyzed. Secondly, the functional requirements of two-axis four-frame stabilized platform are analyzed, and the corresponding servo control loop is designed. The control system loop of two-axis four-frame stabilized platform is studied: rate stabilization loop, automatic tracking loop and position tracking loop, and the multi-frame automatic tracking loop is analyzed emphatically. At the same time, the mathematical modeling of the components in the control loop is carried out. Thirdly, the factors affecting the stability accuracy of the two-axis four-frame stabilized platform system are analyzed, the structure of the rate stabilization loop is analyzed, and the FAKPID control method is proposed to further improve the steady-state performance and anti-interference performance of the system. At the same time, the correction links of automatic tracking loop and position servo loop are studied, and the corresponding controller is designed. Finally, a prototype is developed for the two-axis four-frame stabilization platform, and the hardware composition of the prototype is introduced. At the same time, the correctness of the research is verified by the control system experiment of the four-frame stabilized platform.
【学位授予单位】：长春理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V241

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