Servo system design for E-O stabilization and tracking devices

Zhang Zhi-yong; Fan Da-peng; FAN Shi-xun

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Servo system design for E-O stabilization and tracking devices

Article | 更新时间：2020-08-12

- Servo system design for E-O stabilization and tracking devices
- Optics and Precision Engineering Vol. 14, Issue 4, Pages: 681-688(2006)
- 作者机构：
  
  国防科技大学机电工程与自动化学院,湖南长沙,410072
- 作者简介：
- 基金信息：
- DOI：
  CLC： V241.5
- Received：22 November 2005，
  
  Revised：18 May 2006，
  
  Published：2006
- 稿件说明：
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张智永, 范大鹏, 范世珣. 光电稳定跟踪装置的控制系统设计[J]. 光学精密工程, 2006,14(4): 681-688

ZHANG Zhi-yong, FAN Da-peng, FAN Shi-xun. Servo system design for E-O stabilization and tracking devices[J]. Editorial Office of Optics and Precision Engineering, 2006,14(4): 681-688
张智永, 范大鹏, 范世珣. 光电稳定跟踪装置的控制系统设计[J]. 光学精密工程, 2006,14(4): 681-688 DOI：

ZHANG Zhi-yong, FAN Da-peng, FAN Shi-xun. Servo system design for E-O stabilization and tracking devices[J]. Editorial Office of Optics and Precision Engineering, 2006,14(4): 681-688 DOI：

摘要

给出了一类光电稳定跟踪装置的框架伺服控制方案

重点研究了速率稳定环的设计过程

使用dSPACE半实物仿真系统进行了速率回路开环特性的模型辨识和高阶滞后超前控制器设计

对于数字化频率特性测试时产生的相位滞后现象进行了理论推导

并提出了相位补偿公式。对于经典控制器可能遇到的精度不足的问题

介绍了相应的非线性补偿方法。针对伺服系统的位置跟踪环和速度稳定环在频域存在的耦合现象

深入分析了产生频域耦合的原因和相应的解耦设计方法

提出了此类系统位置跟踪环和速度稳定环的理想设计模型。在此基础上讨论了姿态干扰隔离度的概念

推导了隔离度的计算公式。对系统工作过程中可能遇到的5种典型情况进行了仿真试验

仿真结果验证了有关概念的正确性。

Abstract

The typical structure of the servo system of a E-O Stabilization and Tracking Devices(EOSTD) was introduced. Based on dSPACE hardware-in-the-loop simulation system

the common design process of velocity stabilization was researched. Aiming at the phase lag phenomena caused by digital frequency characteristic test

the phase compensation formula was proposed and some nonlinear compensation methods were discussed to achieve high stabilization precision. Analyzing deeply on the frequency coupling of the position tracking loop and the velocity stabilization loop

the corresponding de-coupling method and the ideal model of the position loop and the velocity loop above were presented. Based on that model

the conception of the isolation degree was discussed. Five typical instances were simulated

the position tracking and line of sight stabilization results were provided in the end. The results show the validity of the concerned conception.

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references

DAVID J H,JAMES D. Modern control methods applied to a line-of-sight stabilization and tracking system . Proceedings of the American Control Conference, 1987:1491-1498.[2] XIE D L,YUAN J H ,YANG H. Stabilization of line-of-sight for airborne O-E tracking and imaging system[J]. SPIE,1998, 3365:191-201.[3] COUDRAIN C,SACLEUX B,BRUYANT J P. Design and realization of the line of sight control for one or several airborne optical imaging instruments[J]. SPIE, 2005,5810:35-44.[4] HILKERT J M. A comparison of inertial line-of-sight stabilization techniques using mirrors[J]. SPIE,2004,5830:13-22.[5] HILKERT J M,DAVID A. Adaptive control system techniques applied to inertial stabilization systems[J]. SPIE,1990,1306:190-206.[6] LI B. Nonlinear induced disturbance rejection in inertial stabilization systems[J]. SPIE,1996,2739:242-250.[7] LI B,HULLENDER A. Self-tuning controller for nonlinear inertial stabilization systems[J].SPIE,1996,2739:229-241.[8] 李东明,党纪红,郝颖. 惯性平台稳定回路的双闭环控制[J]. 应用科技,2003,30(8):48-50. LI D M, DANG J H, HAO Y. Double closed-loop control of inertial platform servo loop[J]. Applied Science and Technology,2003,30(8):48-50.(in Chinese)[9] 毕永利,刘洵. 机载多框架陀螺稳定平台速度稳定环设计[J]. 光电工程,2004,31(2):16-18. BI Y L, LIU X. Design of a velocity-stabilized loop for airborne multi-frame gyroscope-stabilized platform[J]. Opto-Electronic Engineering,2004,31(2):16-18. (in Chinese)[10] 毕永利. 多框架光电平台控制系统研究 . 中国科学院长春光学精密机械与物理研究所,2003.10. BI Y L. Study on control system of multi-frame photoelectric platform .Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences. 2003.10. (in Chinese)[11] 刘向,王连明,葛文奇. 用线性加速度计实现无陀螺平台稳定的理论研究[J]. 光学精密工程,2004,12(1):21-25. LIU X, WANG L M, GE W Q. Application of linear accelerometer for stabilization of non gyroscopic platform[J]. Optics and Precision Engineering,2004,12(1):21-25. (in Chinese)[12] 王永年,祝梁生,孙隆和. 头盔显示/瞄准系统[M]. 北京:国防工业出版社,1994. WANG Y N,ZHU L SH,SUN L H. Helmet display/pointing system[M]. Beijing: National Defence Industry Publishing House,1994. (in Chinese)[13] 郭富强. 惯导平台的隔离度研究[J]. 西北工业大学学报,1993,2. GUO F Q. On degree of base-motion isolation of inertial navigation platform . Journal of Northwestern Polytechnical University,1993,11(2):218-222. (in Chinese)

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