基于凝视步进的快速高精度指向技术研究
发布时间：2019-05-24 21:45
【摘要】：凝视型红外面阵探测器已进入可实际应用阶段,在面阵规模一定的情况下,需指向镜配合探测器快速、高精度指向探测区域以在不降低空间分辨率的前提下扩大探测视场。指向机构驱动控制系统的定位精度和控制稳定度、角度位置传感器的测量精度及稳定度直接影响遥感相机的成像质量。目前广泛应用的扫描机构驱动控制方式,采用伺服电机与绝对式感应同步器构成三环反馈控制系统,保证了运动控制的线性度和控制精度。步进电机作为应用技术成熟的驱动执行器已经在线列探测器扫描机构的步进扫描模式中取得成功应用,其脉冲控制步距递进的运行方式在凝视指向,特别是步进凝视模式下具有应用价值。本文针对凝视指向模式下对驱动响应速度、定位控制精度和角度测量精度的高要求特点提出采用步进电机开环控制方式配合绝对式感应同步器实现指向驱动控制的方案,并设计步进指向测试系统,该系统有效驱动转动惯量20.3kg?m的负载实现20°范围内快速、稳定指向。绝对式感应同步器在真空环境下高可靠性、稳定性的优点在航天遥感领域得到认可,为空间探测提供了绝对角度基准。本文在分析绝对式感应同步器测角系统在小范围回转轴角度测量应用的基础上,提出测角系统基于追踪型轴角转换器的非理想特性输入误差模型,并研究误差检测及补偿方法。文章具体包括以下研究内容:1.设计步进指向测试系统,系统实现步进开环控制条件下小于3s,约20°角度范围的快速指向并稳定,稳定时间小于0.3s,0.2s积分时间内稳定度优于0.2″。2.完成基于追踪型轴角转换器的绝对式感应同步器信息处理系统设计,分析系统的运行特性,测角系统实现测角稳定度优于0.5″(3?)、测角精度优于2.5″(3?);3.在理论分析感应同步器测角系统误差的基础上,提出其在小范围回转轴角度测量应用方面的主要误差来源为RDC的非理想特性输入误差,建立误差模型并分析误差成分;4.搭建测角系统误差检测平台,分析实测误差特性并研究硬件和软件补偿方法,补偿后误差值优于2.5″(3?)。
[Abstract]:The stereoscopic infrared array detector has entered the practical application stage. Under the condition of a certain size of the array, the pointing mirror should cooperate with the detector quickly and point to the detection area with high precision in order to expand the detection field of view without reducing the spatial resolution. The positioning accuracy and control stability of the driving control system of the pointing mechanism, and the measurement accuracy and stability of the angle position sensor directly affect the imaging quality of the remote sensing camera. At present, the widely used scanning mechanism drive control mode adopts servo motor and absolute induction synchronizer to form a three-loop feedback control system, which ensures the linearity and control accuracy of motion control. Stepping motor, as a driving actuator with mature application technology, has been successfully applied in the step scanning mode of line detector scanning mechanism, and its pulse control step progressive operation mode is staring and pointing. Especially in the step gaze mode, it has application value. In this paper, according to the high requirements of driving response speed, positioning control accuracy and angle measurement accuracy in staring pointing mode, a scheme of using step motor open loop control mode combined with absolute induction synchronizer to realize directional drive control is proposed. The step direction test system is designed, which effectively drives the load of moment of inertia 20.3kg?m to realize fast and stable pointing in the range of 20 掳. Absolute induction synchronizer has been recognized in the field of space remote sensing for its high reliability and stability in vacuum environment, which provides an absolute angle reference for space detection. Based on the analysis of the application of absolute induction synchronizer angle measurement system in small range rotation axis angle measurement, this paper puts forward the input error model of angle measurement system based on tracking shaft angle converter, and studies the error detection and compensation method. The article includes the following research contents: 1. The step direction test system is designed. The system realizes the fast direction and stability of the angle range of about 20 掳under the condition of step open loop control, the stability time is less than 0.3 s, and the stability of 0.2 s integral time is better than 0.2 ". 2. The information processing system of absolute induction synchronizer based on tracking shaft angle converter is designed, and the running characteristics of the system are analyzed. the angle measurement stability of the angle measurement system is better than 0.5 "(3?), and the angle measurement accuracy is better than 2.5" (3?). 3. Based on the theoretical analysis of the angle measurement system error of induction synchronizer, it is proposed that the main error source in the application of small range rotation axis angle measurement is the input error of non-ideal characteristic of RDC, and the error model is established and the error components are analyzed. The error detection platform of angle measurement system is built, the measured error characteristics are analyzed, and the hardware and software compensation methods are studied. the error value after compensation is better than 2.5 "(3?).
【学位授予单位】：中国科学院研究生院(上海技术物理研究所)
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V443.5
[Abstract]:The stereoscopic infrared array detector has entered the practical application stage. Under the condition of a certain size of the array, the pointing mirror should cooperate with the detector quickly and point to the detection area with high precision in order to expand the detection field of view without reducing the spatial resolution. The positioning accuracy and control stability of the driving control system of the pointing mechanism, and the measurement accuracy and stability of the angle position sensor directly affect the imaging quality of the remote sensing camera. At present, the widely used scanning mechanism drive control mode adopts servo motor and absolute induction synchronizer to form a three-loop feedback control system, which ensures the linearity and control accuracy of motion control. Stepping motor, as a driving actuator with mature application technology, has been successfully applied in the step scanning mode of line detector scanning mechanism, and its pulse control step progressive operation mode is staring and pointing. Especially in the step gaze mode, it has application value. In this paper, according to the high requirements of driving response speed, positioning control accuracy and angle measurement accuracy in staring pointing mode, a scheme of using step motor open loop control mode combined with absolute induction synchronizer to realize directional drive control is proposed. The step direction test system is designed, which effectively drives the load of moment of inertia 20.3kg?m to realize fast and stable pointing in the range of 20 掳. Absolute induction synchronizer has been recognized in the field of space remote sensing for its high reliability and stability in vacuum environment, which provides an absolute angle reference for space detection. Based on the analysis of the application of absolute induction synchronizer angle measurement system in small range rotation axis angle measurement, this paper puts forward the input error model of angle measurement system based on tracking shaft angle converter, and studies the error detection and compensation method. The article includes the following research contents: 1. The step direction test system is designed. The system realizes the fast direction and stability of the angle range of about 20 掳under the condition of step open loop control, the stability time is less than 0.3 s, and the stability of 0.2 s integral time is better than 0.2 ". 2. The information processing system of absolute induction synchronizer based on tracking shaft angle converter is designed, and the running characteristics of the system are analyzed. the angle measurement stability of the angle measurement system is better than 0.5 "(3?), and the angle measurement accuracy is better than 2.5" (3?). 3. Based on the theoretical analysis of the angle measurement system error of induction synchronizer, it is proposed that the main error source in the application of small range rotation axis angle measurement is the input error of non-ideal characteristic of RDC, and the error model is established and the error components are analyzed. The error detection platform of angle measurement system is built, the measured error characteristics are analyzed, and the hardware and software compensation methods are studied. the error value after compensation is better than 2.5 "(3?).
【学位授予单位】：中国科学院研究生院(上海技术物理研究所)
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V443.5
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