机载光电平台伺服系统稳定与跟踪控制技术的研究

发布时间：2018-05-29 05:18

本文选题：机载光电稳定平台 + 伺服控制　；参考：《中国科学院长春光学精密机械与物理研究所》2017年博士论文

【摘要】：由于能够在机载环境下迅速捕获、跟踪、瞄准运动目标,机载光电平台被广泛地应用于航空侦察、测量定位以及打击效果评估等领域。近几年来机载光电稳定平台中不断采用新型的材料以及高性能探测器,远距离、高精度成为机载光电平台需要解决的问题。尤其是探测距离,已经从十几公里渐渐提升至几十公里、甚至几百公里。远距离、高精度的航空侦察、测量定位以及精确打击等的发展对侦察图像的清晰度以及目标定位精度等的要求不断提高,这对机载光电平台伺服系统视轴稳定精度与跟踪精度的要求也越来越高。在机载光电稳定平台的工作过程中,伺服控制系统总会受到模型干扰,力矩、角速度干扰以及传感器执行器噪声干扰等等。一般情况下,机载光电稳定平台的模型不能精确获得,其系统本身的特性受外界环境的影响而变化,同时力矩、角速度干扰,传感器执行器等噪声干扰也是不确定时变的。为解决机载光电平台的上述不确定性问题以及提高系统的稳定精度、跟踪精度,本文以某型两轴四框架机载光电稳定平台伺服系统为研究对象,主要对伺服控制系统的稳定与跟踪进行了以下几方面的研究工作:(1)本文首先分析机载光电稳定平台的性能需求以及系统的组成,并在此基础上讨论了机载光电稳定平台工作流程以及伺服系统的四种工作状态。然后本文详细分析了伺服控制系统中光电编码器、速率陀螺以及控制电机的种类与特性,为机载光电稳定平台伺服控制系统中传感器、执行器的选择提供了依据,进而为设计理想的伺服系统控制器奠定了硬件基础。(2)本文将机载光电稳定平台中的扰动分为模型干扰,力矩、角速度干扰以及传感器执行器等噪声干扰三大类,并详细地分析了机载光电平台的各类扰动的特点以及抑制方法。然后基于直流有刷力矩电机建立了伺服系统速度环、位置环双闭环控制模型。同时在此模型的基础上介绍了机载光电平台伺服系统开环相位裕度、闭环带宽、闭环力矩刚度以及扰动隔离度等性能要求,为伺服系统的设计提供了依据。(3)基于机载光电平台模型以及干扰的不确定性等特点,本文讨论了几种经典控制策略和现代控制策略,最终选择了鲁棒控制策略设计机载光电稳定平台伺服系统速度环控制器。在分析标准鲁棒H_∞控制的基础上,本文详细讨论了机载光电平台伺服系统混合灵敏度H_∞控制器的设计并提出了基于频率响应的加权函数确定,解决了系统性能指标的转换问题等问题。实验表明本文设计的混合灵敏度H_∞控制器在抑制模型扰动,力矩、角速度扰动以及响应速度等性能方面均优于PI控制器以及本文设计的自抗扰控制器,在1°1Hz扰动情况下伺服系统稳定精度优于8μrad。(4)本文介绍了在跟踪工作状态下机载光电稳定平台中脱靶量的生成过程,并在此基础上得出了机载光电平台伺服系统接收到的脱靶量信息存在不确定有界时变滞后延迟这一结论,并分析了脱靶量滞后对机载光电稳点平台跟踪系统的稳定性以及跟踪精度等性能的影响。在介绍了常用的基于匀加速模型的Kalman预测滤波方法与其缺点之后,本文提出了基于当前统计Singer模型的不确定有界时变延迟的补偿,实验结果表明该方法优于递推确定延迟Kalman、H_∞预测滤波方法。在机载光电稳定平台的跟踪实验中,在1°1Hz扰动下伺服系统跟踪10°0.2Hz目标的跟踪精度优于0.5mrad。
[Abstract]:The airborne optoelectronic platform is widely used in the fields of aerial reconnaissance, measurement positioning and impact assessment, because it can capture, track, and aim at the moving target in the airborne environment. In recent years, new materials and high energy detectors are used in the airborne photoelectric stabilization platform in recent years. The airborne photoelectric flat is a long distance and high precision. The development of remote, high-precision aerial reconnaissance, measurement and positioning, and precision strike, and so on, have improved the definition of the reconnaissance image and the precision of the target positioning, which is a servo system for the airborne photoelectric platform. In the working process of airborne optoelectronic stabilization platform, the servo control system is always subjected to model interference, torque, angular velocity interference and sensor actuator noise interference. In general, the model of airborne photoelectric stable platform can not be obtained accurately, its system base The characteristics of the body are changed by the influence of the external environment, while the noise interference such as torque, angular velocity interference and sensor actuator are uncertain. In order to solve the above uncertainty problems of the airborne photoelectric platform and improve the stability and tracking accuracy of the system, the servo system of a two axis four frame airborne photoelectric stable platform is used in this paper. As the research object, the following research work is carried out on the stability and tracking of servo control system. (1) firstly, this paper analyzes the performance requirements and the system composition of the airborne electro-optical stabilization platform, and then discusses the working process of the airborne photoelectric stable platform and the four working states of the servo system. This paper analyzes the types and characteristics of the photoelectric encoder, rate gyroscope and control motor in the servo control system, and provides the basis for the selection of sensors and actuators in the servo control system of the airborne photoelectric stable platform, and then lays the hardware foundation for the ideal servo system controller. (2) the airborne photoelectric stable platform is introduced in this paper. The disturbances are divided into three categories: model interference, torque, angular velocity interference and sensor actuator and other noise disturbances. The characteristics of various disturbances and the suppression methods of the airborne photoelectric platform are analyzed in detail. Then the servo system speed loop and the position loop double closed loop control model are established based on the DC brushed torque motor. On the basis of the model, the performance requirements of the open loop phase margin, closed loop bandwidth, closed loop torque stiffness and disturbance isolation are introduced, which provide the basis for the design of the servo system. (3) several classical control strategies and modern times are discussed based on the characteristics of the airborne optoelectronic platform model and the uncertainty of the interference. The robust control strategy is finally chosen to design the speed loop controller of the airborne electro-optical stabilization platform servo system. On the basis of the analysis of the standard robust H_ control, the design of the hybrid sensitivity H_ infinity controller for the airborne electro-optical platform servo system is discussed in detail and the determination of the weighted function based on the frequency response is proposed and the solution is solved. The experimental results show that the hybrid sensitivity H_ infinity controller designed in this paper is superior to the PI controller and the self disturbance rejection controller designed in this paper. The stability accuracy of the servo system is better than 8 rad in the case of 1 degree 1Hz disturbance. (4) this paper introduces the generation process of the miss distance in the airborne optoelectronic stabilized platform under the tracking working state. On this basis, the conclusion is drawn that the miss distance information received by the airborne electro-optical platform servo system is uncertain and bounded time-delay delay, and the tracking system of the airborne photoelectric stabilization platform is analyzed. After introducing the common Kalman prediction filtering method based on the uniform acceleration model and its shortcomings, this paper presents an uncertain bounded time-varying delay compensation based on the current statistical Singer model, and the experimental results show that the method is superior to the recursive deterministic delay Kalman and H_ infinity predictive filtering. Methods: in the tracking experiment of airborne photoelectric stabilized platform, the tracking accuracy of servo system tracking 10 degree 0.2Hz target is better than 0.5mrad. at 1 degree 1Hz disturbance.
【学位授予单位】：中国科学院长春光学精密机械与物理研究所
【学位级别】：博士
【学位授予年份】：2017
【分类号】：V241

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