【作者】 李贤涛；

【导师】 张葆；

【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， 2014， 博士

【摘要】 航空光电稳定平台广泛应用于敌情侦察、目标定位、打击校射和效果评估等领域。其中，视轴的稳定精度是衡量其性能的一项关键指标，稳定精度越高，航空光电稳定平台成像越清晰，信息获取越准确。然而在实际工作过程中，飞机飞行姿态的不断变化，发动机的振动、气流扰动等因素均会导致驱动电机的输出力矩不能够完全准确地驱动框架，如此一来，便使得视轴不能按照期望的方式稳定在目标位置。由此可见，如何提高系统的扰动抑制能力，是提高航空光电稳定平台视轴稳定精度的关键技术之一。本文对两轴四框架航空光电稳定平台中的扰动作用原理进行深入研究，并提出了主动抗扰与被动抗扰相结合的引导型自抗扰控制策略对系统中的扰动进行抑制。本文研究的主要内容如下：1.本文首先根据两轴四框架光电稳定平台的结构，从系统运动学动力学耦合方程出发，提出了减小框架间耦合的具体方法。从机械结构优化设计的角度，对两轴四框架光电稳定平台的控制系统提出了设计要求。2.对平台中每一框架均进行了电流环设计，以保证电机的输出力矩恒定。并结合航空光电稳定平台的工作特点，对系统中的各种干扰进行综合分析，并按照其作用位置将其分为模型干扰、电机干扰、力矩干扰等三类，以此为依据，采用“等效扰动电压”的方式建立了系统的被控模型，如此一来，不仅避免了各种扰动力矩复杂的建模过程，同时为主动抗扰策略的应用奠定了基础。3.在速度稳定回路中，分别采用平方滞后控制器和平方PI控制器，显著地提高了低频段的开环增益，取得了令人满意的被动抗扰效果。详细论述了采用传统控制策略时，系统扰动隔离度受机械谐振频率严格限制的原因，进而引入快速反射镜，从结构设计的角度进一步发挥了传统控制策略对扰动的抑制能力。同时，在不改变机械结构单纯依靠控制策略的角度，提出了二级引导型自抗扰控制器，以主动与被动相结合的方式进一步对系统中的扰动进行抑制，极大程度的提高了系统的扰动隔离度。4.在飞行模拟转台中测试二级引导型自抗扰控制器对2.5Hz以内任意频率扰动的抑制能力，并与目前航空光电稳定平台中常用的平方滞后超前校正方法进行对比。实验结果表明：相比于传统的平方滞后控制器，采用引导型自抗扰控制器，系统的扰动隔离度至少提高8.52dB，且随着扰动频率大于0.5Hz，该控制器的扰动抑制能力更为明显，扰动隔离度最多提高了13.06dB；同时，引导型自抗扰控制器具有很强的鲁棒性，允许被控对象参数在15%的范围内任意变化；除此之外，在高低温和振动冲击等可靠性实验中，“引导型”自抗扰控制器也表现出至少优于传统平方滞后控制器1倍以上的性能，充分体现了“引导型”自抗扰控制器的优越性，对提高航空光电稳定平台控制系统的抗扰动性能具有较高的实用价值。更多还原

【Abstract】 Aerial photoelectrical stabilized platform is widely used in the zone of enemyinvestigation, target location, attack collation and effect evaluation. Optic axisstability is an important metric for charactering the stable plan. With higher optic axisstability, the accuracy and image quality of the plan will consequently raise.Nevertheless, limited by the rigid body motion of the plane, engine vibration andturbulence of the airflow, the output moment of the electric-motor cannot be totallytransferred to the frame and this leads to the deviation from the perfect location ofpointing model.so we place significance on the robust of the plan system.In this article, after processing the specification of the turbulence in theory, wedegrade the restrain strategy into two individual parts: the active restrain and thepassive one and this paper will be organized as follows.To begin with, according to the mechanical structure of the stable plan, wedevelop a method from the motion and dynamic equations to restrain the couplingamong the frames. Thus, the optimize design of the plan provides a requirement forthe control system of the plan.In the second place, we design the current loop separately for every frame, inorder to provide a smooth moment output.The analytical determination that how thesensitivity for the various kinds of turbulence moment influences the plan pointingaccuracy will be received.Based on the current loop, we investigate the control currentwhich specifies both the turbulence moment and model error. Modeling in this way, for one thing, we can understand the error model more easily.For another, theconstruction of active control strategy will benefits from it.In speed stability loop, the traditional square lag-lead compensation method andsquare PI controller can provide adequate passive restraint and improve theperformance of the controller in the low part of the frequency domain. The two-stageADRC whose estimated value of disturbance is oriented by target value, combines theactive and passive strategy, is involved for contribution to the iso-vibration of thesystem and optic axis stability.Lastly, an experiment was performed to test the disturbance rejectionperformance of the ADRC based on current loop when the speed disturbance is from0.1Hz to2.5Hz as compared with the traditional square lag-lead compensation method.Experiment results show that ADRC can reduce the disturbance error8.52dB at least.And the isolation degree of disturbance is improved obviously when the perturbationfrequency is more than0.5Hz. The best isolation degree of disturbance is increased13.06dB. And the ADRC have strong robustness, allowing the range of systemparameters to change in15%. In addition, the disturbance rejection performance ofthe ADRC whose estimated value of disturbance is oriented is improved more thanone time in the temperature test and vibration experiment.In conclusion, the ADRCwhose estimated value of disturbance is oriented satisfies the performancerequirements of aerial photoelectrical stabilized platform and have higher practicalvalue.更多还原