光雷一体化测量系统的谐振特性及组合补偿

郭同健; 高慧斌; 宋立维; 张淑梅; 余毅

doi:10.3788/OPE.20142204.0926

您当前的位置：

首页 >

文章列表页 >

光雷一体化测量系统的谐振特性及组合补偿

微纳技术与精密机械 | 更新时间：2020-08-13

- 光雷一体化测量系统的谐振特性及组合补偿
- Resonant characteristic and hybrid compensation of OE-radar integrative measuring system
- 光学精密工程 2014年22卷第4期页码：926-933
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院大学北京,中国,100049
- 作者简介：
- 基金信息：
  
  国家863高技术研究发展计划资助项目（No.2010AA7034320）()
- DOI：10.3788/OPE.20142204.0926
  中图分类号： TP273.2;V556
- 收稿日期：2013-11-05，
  
  修回日期：2014-01-03，
  
  纸质出版日期：2014-04-25
- 稿件说明：
移动端阅览
郭同健, 高慧斌, 宋立维等. 光雷一体化测量系统的谐振特性及组合补偿[J]. 光学精密工程, 2014,22(4): 926-933

GUO Tong-jian, GAO Hui-bin, SONG Li-wei etc. Resonant characteristic and hybrid compensation of OE-radar integrative measuring system[J]. Editorial Office of Optics and Precision Engineering, 2014,22(4): 926-933
郭同健, 高慧斌, 宋立维等. 光雷一体化测量系统的谐振特性及组合补偿[J]. 光学精密工程, 2014,22(4): 926-933 DOI： 10.3788/OPE.20142204.0926.

GUO Tong-jian, GAO Hui-bin, SONG Li-wei etc. Resonant characteristic and hybrid compensation of OE-radar integrative measuring system[J]. Editorial Office of Optics and Precision Engineering, 2014,22(4): 926-933 DOI： 10.3788/OPE.20142204.0926.

摘要

针对光雷一体化测量系统中复杂谐振对伺服单元的不利影响，提出了采用自适应陷波器及观测器滤波反馈组合实现谐振补偿的方法。首先，结合机械结构及频响测试结果分析了系统的谐振特性，指出系统存在雷达天线谐振、雷达机体谐振和天线高阶及轴系耦合谐振等3类主要谐振模式，并求得谐振特性随俯仰角变化的规律。讨论了对这种复杂谐振的补偿方法，提出采用自适应陷波器补偿雷达天线和雷达机体谐振，并利用Kalman观测器滤波反馈抑制天线高阶及轴系耦合谐振的方法。结果表明：经过谐振组合补偿后，各类谐振均得到有效抑制，速度环闭环带宽期望值达到了115 rad/s，阶跃过程过渡时间为0.35 s，在保证闭环控制稳定性的同时满足了系统带宽要求。

Abstract

To overcome the adverse effect of complicated resonant vibration resulting from the OE-radar integrative measuring system on a servo unit

a hybrid compensating method combined an adaptive notch filter and the feedback of observer filtering was proposed to restrain the resonant vibration. Firstly

the resonant characteristics of the system were analyzed according to the mechanical structure and tested frequency properties. It indicates that there are three kinds of primary resonant modes in the system

which is the radar antenna resonance

radar cabin resonance and the antenna high-order and bearing coupling resonance. The rule of resonant characteristics varying with an elevation angle was also obtained. Then

a compensating method to the complicated resonant vibration was discussed. The adaptive notch filter in series was applied to compensation of the radar antenna resonance and the radar cabin resonance

and the feedback of the Kalman observer filtering was used to restrain the antenna high-order and bearing coupling resonance. Experimental results indicate that all kinds of resonances are restrained effectively by the hybrid compensating method

the velocity close-loop bandwidth of servo unit is up to 115 rad/s

and the transient time of step response is 0.35 s. The method proposed can satisfy the system requirements for high bandwidth and stabilization.

关键词

Keywords

references

王晓明, 乔彦峰, 宋立维, 等. 用单站光电雷达一体化系统测量目标三维姿态[J]. 光学精密工程, 2011, 19(8):1779-1786. WANG X M, QIAO Y F, SONG L W, et al. Measurement of three-dimensional attitude by single opto-electrical and radar integration instrument[J]. Opt. Precision Eng., 2011, 19(8):1779-1786. (in Chinese)

KATSURA S, OHNISHI K. Force servoing by flexible manipulator based on resonance ratio control[J]. IEEE Transactions on Industrial Electronic, 2007, 54(3): 539-547.

SHUTARO Y, SEⅡCHIRO K. Vibration suppression control of 2-mass resonant system for haptic tele-operation[C]. The 11th IEEE International Workshop on Advanced Motion Control, Nagaoka, 2010: 655-660.

ANANTHAPADMANABHA T, KULKARNI A D, SHIMRAY B A. Reducing torsional oscillation and performance improvement of industrial drives using PI along with additional feedbacks[J]. Journal of Electrical and Electronics Engineering Research, 2010, 2(6): 132-142.

SZABAT K, ORLOWSKA K T. Vibration suppression in a two-mass drive system using PI speed controller and additional feedbacks comparative study[J]. IEEE Transactions on Industrial Electronic, 2007, 54(2): 1193-1206.

KAR I N, SETO K, DOI F. Multimode vibration control of a flexible structure using H∞-based robust control[J]. IEEE/ASME Transactions on Mechatronics, 2000, 5(1): 23-31.

王国富, 余法山, 汪旭东, 等. 机载光电转台的谐振分析及自适应滤波器设计[J]. 光学精密工程, 2007, 15(11):1802-1808. WANG G F, YU F S, WANG X D, et al. Analysis on resonance of air-borne opto-electronic tracking turntable and design of adaptive filter[J]. Opt. Precision Eng., 2007, 15(11):1802-1808 (in Chinese).

OHNO K, HARA T. Adaptive resonant mode compensation for hard disk drives[J]. IEEE Transactions on Industrial Electronic, 2006, 53(2): 624-630.

王帅, 陈涛, 李洪文, 等. 光电跟踪伺服系统的频率特性测试与模型辨识[J]. 光学精密工程, 2009, 17(1): 78-84. WANG SH, CHEN T, LI H W, et al. Frequency characteristic test and model identification for O-E tracking servo system[J]. Opt. Precision Eng., 2009, 17(1): 78-84 (in Chinese)

朱石坚, 楼京俊, 何其伟, 等. 振动理论与隔振技术[M]. 北京:国防工业出版社, 2006. ZHU S J, LOU J J, HE Q W, et al. Vibration Theory and Vibration Isolation[M]. Beijing: National Defense Industry Press, 2006. (in Chinese)

郑泽东, 李永东, 肖曦, 等. 永磁同步电机负载转矩观测器[J]. 电工技术学报, 2010, 25(2): 30-36. ZHENG Z D, LI Y D, XIAO X, et al. Load torque observer of permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2010, 25(2): 30-36. (in Chinese)

吴忠, 吕绪明. 基于磁编码器的伺服电机速度及位置观测器设计[J]. 中国电机工程学报, 2011, 31(9):82-87. WU ZH, LU X M. Design of angular velocity and position observer for servo motors with magnetic encoders[J]. Proceedings of the CSEE, 2011, 31(9):82-87. (in Chinese)

浏览量

699

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于Stewart平台的有效载荷低阶模态振动抑制

基于结构滤波器的伺服系统谐振抑制方法

基于结构滤波器的伺服系统谐振抑制

主被动磁悬浮转子的不平衡振动自适应控制

基于双频Bode图的磁悬浮控制力矩陀螺转子弹性自激振动抑制用陷波器设计