基于扩张状态观测器的快速步进/凝视成像机构控制

黄浦; 杨秀丽; 修吉宏; 李军; 李友一; 许永森

doi:10.3788/OPE.20182608.2084

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基于扩张状态观测器的快速步进/凝视成像机构控制

信息科学 | 更新时间：2020-08-13

- 基于扩张状态观测器的快速步进/凝视成像机构控制
- Extended state observer based control of fast step/stare imaging mechanisms
- 光学精密工程 2018年26卷第8期页码：2084-2091
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所中国科学院航空光学成像与测量重点实验室, 吉林长春 130033
  2.空军航空大学, 吉林长春 130022
- 作者简介：
  
  [ "黄浦(1981-), 男, 湖北仙桃人, 博士, 副研究员, 2011年于中科院长春光学精密机械与物理研究所获博士学位, 主要从事航空成像与测量技术及先进数字控制技术研究; E-mail:hpu8@163.com" ]
  [ "杨秀丽(1979-), 女, 吉林松原人, 硕士, 讲师, 2008年于长春光学精密机械与物理研究所获硕士学位, 主要从事控制系统机械结构设计与有限元分析研究; E-mail:yangxl0@163.com" ]
- 基金信息：
  
  国家重点研发计划资助项目(2017YFB0503001)
- DOI：10.3788/OPE.20182608.2084
  中图分类号： TP273
- 收稿日期：2018-01-15，
  
  录用日期：2018-3-30，
  
  纸质出版日期：2018-08-25
- 稿件说明：
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黄浦, 杨秀丽, 修吉宏, 等. 基于扩张状态观测器的快速步进/凝视成像机构控制[J]. 光学精密工程, 2018,26(8):2084-2091.

Pu HUANG, Xiu-li YANG, Ji-hong XIU, et al. Extended state observer based control of fast step/stare imaging mechanisms[J]. Optics and precision engineering, 2018, 26(8): 2084-2091.
黄浦, 杨秀丽, 修吉宏, 等. 基于扩张状态观测器的快速步进/凝视成像机构控制[J]. 光学精密工程, 2018,26(8):2084-2091. DOI： 10.3788/OPE.20182608.2084.

Pu HUANG, Xiu-li YANG, Ji-hong XIU, et al. Extended state observer based control of fast step/stare imaging mechanisms[J]. Optics and precision engineering, 2018, 26(8): 2084-2091. DOI： 10.3788/OPE.20182608.2084.

摘要

提出一种基于扩张状态观测器并引入加速度补偿策略的控制器设计方案，以实现快速步进/凝视成像机构对控制性能的高要求。首先，阐述了扩张状态观测器理论，对其特性进行了详细分析，并设计了以成像机构为被控对象的三阶线性扩张状态观测器。通过将观测器置于速度内环反馈通道，设计了基于扩张状态观测器的位置和速度双回路控制器。在此基础上，利用观测器输出的加速度估计值，提出加速度补偿策略，并设计了补偿环节。实验结果表明，与无加速度补偿环节相比，引入加速度补偿后，成像机构每次步进调节时间由76 ms减小到33 ms，凝视期间的角位置精度由约0.07°减小到0.01°以内，速度波动减小约2~3倍，成像机构的控制性能明显改善。控制器设计简单，需整定参数少，对于提高同类控制系统性能具有较高的实用价值。

Abstract

An extended state observer (ESO) based controller with acceleration compensation strategy was proposed to satisfy the high requirements for control performance of fast step/stare imaging mechanisms. First

the theory of ESO was described and its characteristics were expatiated. Then

the third-order linear extended state observer (LESO) was designed with an imaging mechanism as the controlled object. By placing the observer in the feedback channel of the speed loop

a double loop controller of position and speed based on an ESO was designed. On this basis

an acceleration compensation strategy was proposed

and the compensating link was described using the estimated acceleration output by the observer. The experiment results showed that the settling time of the imaging mechanism was reduced at every step from 76 ms to 33 ms and the accuracy of the angular position during the period of stare decreased approximately 0.07°to 0.01°. In addition

the speed fluctuation was reduced by approximately two to three times compared with that without acceleration compensation. The control performance of the mechanism was significantly improved to meet high-performance requirements. The design process of the controller was simple and the adjusted parameters were less than that of traditional designs

which is of high practical value in terms of improving the performance of similar control systems.

关键词

Keywords

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