基于伪微分和加速度反馈的航空光电稳定平台控制方法

申帅; 张葆; 李贤涛; 张士涛

doi:10.3788/CO.20171004.0491

基于伪微分和加速度反馈的航空光电稳定平台控制方法

doi: 10.3788/CO.20171004.0491

申帅^{1, 2,},
张葆^1, ,,
李贤涛¹,
张士涛^{1, 2}

1.
中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
2.
中国科学院大学, 北京 100049

基金项目:

国家高技术研究发展计划（863计划）项目 2013AA122102

详细信息

作者简介:
申帅(1991-), 男, 河北保定人, 硕士研究生, 2014年于哈尔滨工业大学获得学士学位, 主要从事航空光电稳定平台视轴稳定方面的研究。E-mail:shenshuaiharry@163.com

张葆(1966-), 男, 吉林磐石人, 研究员, 博士生导师, 1989年、1994年于长春光学精密机械学院分别获得学士、硕士学位, 2004年于中国科学院长春光学精密机械与物理研究所获得博士学位, 主要从事航空光电成像技术方面的研究

通讯作者:
张葆, E-mail:cleresky@vip.sina.com

中图分类号: TP273
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- 被引次数: 0
出版历程
- 收稿日期: 2017-02-17
- 修回日期: 2017-03-27
- 刊出日期: 2017-08-01

Control scheme of aerial photoelectrical stabilized platform based on pseudo-derivative and acceleration feedback

SHEN Shuai^{1, 2
,},
ZHANG Bao^{1
, ,},
LI Xian-tao¹,
ZHANG Shi-tao^{1, 2}

1.
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China

Funds:

National High-tech R & D Program of China 2013AA122102

More Information

Corresponding author: ZHANG Bao, E-mail:cleresky@vip.sina.com

摘要

摘要: 为了提高航空光电稳定平台的扰动隔离度，在传统平台的电流反馈、速度反馈、位置反馈的基础上增加了高增益加速度反馈，并利用伪微分反馈的控制技术设计出新的控制器来代替传统的速度反馈的PI控制器。实验结果表明，在模拟转台以1°、0~2.5 Hz的正弦干扰下，相对于传统的航空光电稳定平台，基于伪微分和加速度反馈控制的光电稳定平台的阶跃响应超调量减小了约7.8%，扰动隔离度提高了约8.7 dB；相对于基于PI控制器和加速度反馈控制的航空光电稳定平台，基于伪微分和加速度反馈控制的光电稳定平台的阶跃响应超调量减小了约2.6%，且平台的过渡过程加快。该控制系统能够有效地抑制扰动力矩的影响，具有较好的通用性和实用性。
- 扰动隔离度 /
- 伪微分 /
- 加速度反馈 /
- 航空光电稳定平台
Abstract: In order to improve the disturbance isolation degree of aerial photoelectrical stabilized platform, a new controller is designed to replace the traditional PI controller. The new controller utilizes the pseudo-derivative feedback (PDF) control technology and high-gain acceleration feedback based on current feedback, speed feedback and position feedback on the traditional platform. When flight simulator is influenced by 1 degree, 0-2.5 Hz sinusoidal interference, compared with the traditional aerial photoelectrical stabilized platform, the step response overshoot of the platform based on PDF and acceleration feedback system decreases by about 7.8%, and the disturbance isolation degree increases by about 8.7 dB. Besides, compared with the aerial photoelectrical stabilized platform based on PI controller and acceleration feedback control system, the step response overshoot of the platform based on PDF and acceleration feedback system can reduce by about 2.6%, and the transition process of the platform is faster. The control system can effectively restrain the influence from disturbance torque, and this makes the system more common and useful.
- disturbance isolation degree /
- pseudo-derivative /
- acceleration feedback /
- aerial photoelectrical stabilized platform

HTML全文

图 1 PI控制系统结构图

Figure 1. Structure diagram of PI controller

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图 2 典型PDF控制系统结构图

Figure 2. Structure diagram of classical PDF controller

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图 3 简化的PDF控制系统结构图

Figure 3. Structure diagram of the simplified PDF controller

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图 4 引入加速度反馈闭环的调速系统

Figure 4. Structure diagram of the speed regulating system with acceleration loop

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图 5 模拟飞机姿态变化的摇摆台

Figure 5. Swing table for simulation on aircraft attitude change

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图 6 传统速度反馈系统与基于PDF和加速度反馈控制系统的抗扰曲线

Figure 6. Disturbance-rejection curves of traditional speed feedback system and control system based on PDF and acceleration feedback

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图 7 传统速度反馈系统与基于PDF和加速度反馈控制系统的阶跃响应曲线

Figure 7. Step response curves of traditional speed feedback system and control system based on PDF and acceleration feedback

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图 8 基于PI和加速度反馈控制系统与基于伪PDF和加速度反馈控制系统的抗扰曲线

Figure 8. Disturbance-rejection curves of control system based on PI and acceleration feedback and control system based on PDF and acceleration feedback

下载: 全尺寸图片幻灯片

图 9 基于PI和加速度反馈控制系统与基于伪PDF和加速度反馈控制系统的阶跃曲线

Figure 9. Step response curves of control system based on PI and acceleration feedback and control system based on PDF and acceleration feedback

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表 1 基于PDF和加速度反馈控制系统相对于传统速度反馈系统扰动隔离度的提高程度

Table 1. Improvement of disturbance isolation degree of the control system based on PDF and acceleration feedback relative to the traditional speed feedback system

Disturbance frequency/Hz	Improvement of disturbance isolation degree/dB
0.1	13.61
0.5	12.83
1.0	11.27
1.5	9.91
2.0	8.70
2.5	10.15

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表 2 基于PDF的加速度反馈控制系统扰动隔离度的提高程度(相对于基于PI)

Table 2. Improvement of disturbance isolation degree based on PDF relative to PI-based acceleration feedback control system

Disturbance frequency/Hz	Improvement of disturbance isolation degree/dB
0.1	4.24
0.5	3.72
1.0	3.98
1.5	3.84
2.0	3.63
2.5	4.16

下载: 导出CSV

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