【作者】 梁伟；

【导师】 陈娟；

【作者基本信息】 中国科学院研究生院（长春光学精密机械与物理研究所） ， 机械电子工程， 2011， 博士

【摘要】 伺服跟踪系统的精度和稳定性决定了光电经纬仪对目标的测控效果。本文针对光电经纬仪伺服跟踪机构加速度信息感测、信号处理以及伺服控制技术进行了研究,旨在提升光电伺服跟踪系统的性能,促进伺服跟踪控制理论和技术的发展。设计了光电经纬仪加速度传感系统,实现了一种新的适用于光电经纬仪的加速度信息感测方式。采用性能优越的压电角加速度传感器作为核心元件构建了光电经纬仪加速度传感系统,用于感测伺服跟踪机构的加速度信息。描述了加速度传感系统构成及实现方式、信息处理流程,研究了加速度信号的感测原理和误差信号来源,并对系统性能进行了综合测试。相比于传统运动状态信息测量方式,文中的光电经纬仪加速度传感系统集成度和可靠性更好,可以提供信号特性更好的加速度等运动状态信息。探讨了光电伺服跟踪系统的加速度信号软件滤波技术。在分析光电伺服跟踪机构加速度信号特性的基础上,对比研究了低通滤波、统计滤波、卡尔曼滤波以及小波阈值滤波等滤波处理技术。通过对加速度传感系统运行环境、误差来源及信号特征的分析,文中采用自适应滤波对加速度信号进行软件滤波处理,研究了自适应滤波的相关理论和算法,设计了基于LMS的自适应FIR滤波器用以完成对加速度信号的自适应滤波处理和误差补偿,进一步提升了角加速度感测信号的精度,实现了光电经纬仪加速度信号的自适应测量,丰富了光电伺服跟踪领域内加速度等运动状态信息的软件滤波技术。研究了基于加速度信息源的光电经纬仪复合控制技术。复合控制将取自输入信号的前馈控制与传统闭环误差控制相结合,可以很好的解决伺服跟踪系统的动态性能与稳态精度之间的矛盾,本文将加速度传感系统输出信号作为信息源、并积分得到速度,以此为前馈控制信息源,构成了光电经纬仪复合控制系统。仿真实验及结果分析表明,相比于传统伺服控制和以编码器信息源的滞后补偿控制,文中基于加速度信息源的复合控制技术极大的提升了系统动态特性和跟踪精度,具有很好的实用性。光电经纬仪加速度传感系统可以为系统运动状态监控和伺服跟踪控制提供稳定、精准的加速度信息源,基于加速度信息源的复合控制技术可以显著提升光电经纬仪高精度的定位与跟踪目标能力,对于提高光电伺服跟踪理论和技术水平具有积极的理论和实际意义。更多还原

【Abstract】 For O-E theodolite, the precision and stabilization of servo tracking systemdecide on the effect in measuring and monitoring targets. This paper studies on theacceleration measurement, signal processing and servo control technology for theservo tracking platform of O-E theodolite, Aiming at achieving the performance ofO-E servo tracking system and promoting the development of the servo trackingcontrol theory and technology.In this paper, the O-E theodolite acceleration sensor system is designed torealize a new method of measuring and sensing acceleration for O-E theodolite. Thepiezoelectric angular acceleration sensor with superior performance is adopted askey to build O-E theodolite acceleration sensor system in order to obtain theacceleration information of servo tracking system. The paper describes thecomposition and implementation of acceleration sensor system, the informationprocessing, and analyzes the measuring principle and error sources of accelerationsignal. The performance of acceleration sensor system is synthetically tested andverified. By comparison with the traditional measurement method of motioninformation, the O-E theodolite acceleration sensor system has better systemintegration and reliability, and providing better acceleration and other motioninformation.The paper studies the software filter technology of acceleration signal for O-Etheodolite. Based on analyzing the acceleration signal characteristics of O-E servotracking system, the paper studies and analyzes some filter processing technology aslow-pass filtering, statistical filtering, Kalman filtering and wavelet thresholdfiltering. After analyzing the operating environment, error source and signal characteristics of acceleration sensor system, the adaptive filtering technology isadopted to process the acceleration. The paper researches on the theory andalgorithms of adaptive filtering, and designs adaptive FIR filter based on LMSalgorithm to implement the filter processing and error compensation adaptively. Themethod can measure O-E theodolite acceleration signal adaptively, with increasingthe precision of acceleration measurement signal and promoting the research onsoftware filtering technology for motion information in O-E servo tracking system.The paper research on the compound control technology based on accelerationinformation source for O-E theodolite. The compound control can solve thecontradictory problem between steady-state precision and dynamic performance ofservo tracking system, which integrates feedforward control from input signal andtraditional close-loop error control. Simulation and experiment results show thatcomparing with the traditional servo control and delay compensation control basedon encoder information, the compound control technology in this paper can greatlyenhance both the tracking precision and dynamic performance, and have goodPracticality in O-E servo tracking system.The O-E theodolite acceleration sensor system can provide stabilize and preciseacceleration information source for monitoring the motion station and servo trackingcontrol in O-E tracking system. The compound control technology based onacceleration information source can significantly improve the ability of tracking andlocating targets for O-E theodolite, which has active effect on promoting thedevelopment of servo tracking theory and technology in O-E servo tracking system.更多还原