机载光电平台的复合补偿控制方法

扈宏杰; 王元哲

doi:10.3788/OPE.20122006.1272

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机载光电平台的复合补偿控制方法

微纳技术与精密机械 | 更新时间：2020-08-12

- 机载光电平台的复合补偿控制方法
- Composite compensation control scheme for airborne opto-electronic platform
- 光学精密工程 2012年20卷第6期页码：1272-1281
- 作者机构：
  
  1. 北京航空航天大学自动化科学与电气工程学院北京,100191
  2. 北京航空航天大学飞行器控制一体化技术重点实验室北京,100191
- 作者简介：
- 基金信息：
  
  航空科学基金资助项目(No.20080651016)()
- DOI：10.3788/OPE.20122006.1272
  中图分类号： V443.5;TP273
- 收稿日期：2012-02-08，
  
  修回日期：2012-03-31，
  
  网络出版日期：2012-06-10，
  
  纸质出版日期：2012-06-10
- 稿件说明：
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扈宏杰, 王元哲. 机载光电平台的复合补偿控制方法[J]. 光学精密工程, 2012,20(6): 1272-1281

HU Hong-jie, WANG Yuan-zhe. Composite compensation control scheme for airborne opto-electronic platform[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1272-1281
扈宏杰, 王元哲. 机载光电平台的复合补偿控制方法[J]. 光学精密工程, 2012,20(6): 1272-1281 DOI： 10.3788/OPE.20122006.1272.

HU Hong-jie, WANG Yuan-zhe. Composite compensation control scheme for airborne opto-electronic platform[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1272-1281 DOI： 10.3788/OPE.20122006.1272.

摘要

为实现机载光电平台的实时高精度稳定跟踪控制

提出了一种基于改进干扰观测器和模糊逼近的复合自适应补偿控制方法。首先

根据系统的机械结构特点分析了各框架间的运动学耦合关系;考虑到载体扰动的影响

提出了一种基于速度信号的改进干扰观测器结构

并分析了它的工作原理和鲁棒稳定性。然后

针对机械系统中普遍存在的摩擦等干扰现象

设计了基于模糊逼近的复合补偿控制策略以保证系统的跟踪性能。最后

利用Lyapunov稳定性理论证明了系统的全局稳定性和跟踪误差的渐进收敛。实验结果显示

该控制方法具有较高的稳定精度

其跟踪误差可达μrad数量级

表明该方法可以有效地抑制载体扰动的影响并且具有良好的跟踪性能

是可行有效的。

Abstract

A novel composite compensation control scheme based on an improved Disturbance Observer (DOB) and fuzzy approximation was proposed to achieve the real-time stabilization and high-precision tracking control of an airborne opto-electronic platform. First

the kinematic coupling relationship between different frames was analyzed according to mechanical characteristics of the system. Then

an improved DOB structure based on the velocity signal was proposed to restrain the impact of carrier disturbance

and its basic principle and robust stability were analyzed. Considering the disturbance such as the friction torque that exists in mechanical systems generally

a composite control method with a fuzzy controller was proposed to improve the tracking performance. Finally

the global stability and the asymptotic convergence of the tracking error were proved on the basis of Lyapunov stability theory. Experiment results show that the stabilization accuracy can reach a higher level and the tracking error has been μrad magnitude

which demonstrates that the proposed scheme in this paper can restrain the impact of carrier disturbance and improve the tracking performance effectively.

关键词

Keywords

references

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