【作者】 张雪菲；

【导师】 丁亚林；

【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） ， 光学工程， 2012， 博士

【摘要】 航空相机因其时效性高、目的性强、机动性好等优点而成为航空遥感器的主要载荷形式之一，用于获取地面信息。随着科学技术的迅速发展以及航空相机技术水平的不断提高，具有高精度定位、长焦距、双波段的航空相机成为主要发展趋势。随之对航空相机伺服系统的控制性能提出了更高的要求。因此，本论文以现代控制理论为基础，首次将状态观测器应用到航空相机中。以某长焦距CCD相机俯角控制系统为研究对象，从理论分析、数值仿真和实际应用三个方面对状态观测器进行研究，将观测到的角加速度应用到俯角系统速度和位置控制回路中。相比于传统的经典控制方法，基于状态观测器的现代控制方法提高了系统的动态特性、稳态精度以及抗干扰能力。采用频域法建立俯角系统的数学模型。基于被控对象状态方程的实现以及线性系统基本理论，构建了状态观测器并进行原理研究。采用离散李亚普诺夫稳定性定理对不同观测器的稳定性进行分析。并对观测器极点的选取、相位特性以及鲁棒性进行仿真研究。根据俯角系统的测量元件反馈不同惯性状态信息的特点，研究了惯性空间和非惯性空间的状态观测器，从理论分析和数值仿真验证了通过观测器预测飞机横滚姿态角速度的可行性。研究了不同趋近律的离散滑模控制理论，验证了基于幂次函数趋近律的离散滑模控制可以有效的消除系统抖振问题，进一步改善系统的动态特性。提出加速度反馈控制方法，分析了加速度反馈控制对力矩扰动抑制的原理以及加速度反馈增益大小对速度外环的影响。采用基于T-S模糊推理的多模态切换控制方法，构造了俯角系统数字控制器，实现了将加速度反馈控制和离散滑模控制有效的结合。当角速度给定为6°/s时，俯角控制系统调节时间为0.128s，稳速精度达到0.857%。采用软件编程以及手动施加扰动的方式验证了俯角控制系统对于外界不确定性扰动的抑制能力。通过实验室积分球成像实验，证明了相比于传统的超前滞后方法，本文设计的俯角系统速度控制方法可以得到亮度比较均匀的图像。采用SISO模糊控制多环路位置控制策略，设计俯角系统位置控制器，使系统在整个位置的工作范围内实现快速无超调定位。对俯角系统进行摄影效率实验，实验结果表明了相比于传统的超前滞后方法，本文设计的速度和位置控制方法能够将摄影效率由58%提高到72%，保证相机获取更多的图像信息。通过摄影起始位置实验，验证了俯角控制系统引起的地面收容宽度相对误差最大值仅为0.4%，在误差允许范围之内，满足要求。本论文的研究工作表明，基于状态观测器的现代控制方法能够达到而且在某些方面超越传统控制器的控制性能，为航空相机控制系统的设计提供了新的思路。更多还原

【Abstract】 Aerial camera as one primary load form of aerial remote sensor with advantages ofhigh efficiency, strong purpose and high mobility is used to obtain ground information.With the development of science technology and the promotion of aerial cameratechnological level, aerial camera of high precision positioning, long focal and dualband become a trend in future. State observer basis of modern control theory is appliedinto aerial camera for the first time in this dissertation. The control plant is the angle ofdepression control system of a long-focal CCD camera. The research on state observeris from three aspects of theoretical analysis, numerical simulation and application. Theangular acceleration observed is applied in speed control and position control of theangle of depression system. Compared with traditional control method, the dynamiccharacteristics, steady precision and disturbance rejection ability of the angle ofdepression control system are improved by modern control methods based on stateobserver.The mathematical model is given by frequency domain method firstly. Based onimplementation of state function and linear system theory, state observer is constructed.Lyapunov’s law is used to prove stability of state observer. Pole placement, phasecharacteristics and robustness of state observer are analyzed.State observers ofdifferent inertial space are studied according to feature of measuring element and the feasibility of aircraft rolling attitude angular estimated is verified by theoreticalanalysis and numerical simulation.Discrete sliding mode control theory with different reaching law is analyzed andnumerical simulation show that discrete sliding mode control method with powerfunction reaching law can not only eliminate the problem of chattering, but alsoimprove dynamic characteristics. A method of acceleration feedback control isproposed.The effect of system closed-loop bandwidth caused by acceleration feedbackgain is studied and the torque disturbance rejection principle is analyzed.The digital controller is designed used the method of multiple mode switchedcontrol based on T-S fuzzy inference which can realize combining accelerationfeedback control and discrete sliding mode control effectively. Speed control isachieved with setting time of0.128second and precision of0.875%when referenceinput is6°/s. The external disturbance with software programming and manual to provethe ability of disturbance rejection.Compared with conditional lead-leg method, themethod in paper can obtain uniform brightness image.Position control of SISO fuzzy control is achieved rapid and no overshoot locationduring working range.The photography efficiency test indicates that photographyefficiency is risen from58%to72%and more image information can be obtained. Thephotograph begin position test verified the maximum relative error of ground widthcaused by control method is only0.4%, which meets the index requirement.The work of the dissertation indicates that modern control methods based on stateobserver can attain and even exceed the control performance of traditional controller. Anew thought is presented for design of aerial camera control systems.更多还原