精密海陆光电跟踪控制系统研究

【作者】 张瑜；

【导师】 李变侠；

【作者基本信息】 中国科学院研究生院（西安光学精密机械研究所） ， 控制理论与控制工程， 2008， 硕士

【摘要】 光电稳定伺服控制系统是跟踪、侦察、定位、导航等应用领域的关键组成部分,为保证载体晃动条件下跟踪设备的空间相对稳定和视轴精确指向跟踪目标,本文针对陀螺稳定伺服控制系统,对稳定平台结构、稳定控制理论进行了深入的研究和验证。首先对国内外光电稳定平台的结构和视轴稳定方法以及光电平台的发展进行了概述,介绍了常用的稳定控制方法;进而从理论上分析了两轴双环光电稳定平台隔离载体角运动的原理,总结并提出了视轴稳定对伺服系统的性能要求,从而为伺服系统的设计提供总体思想。针对光电平台载体晃动、伺服电机非线性和平台摩擦、机械谐振等干扰因素,设计了速度内环和位置外环的双环控制系统。速度内环的设计从减少上述干扰提高响应速度出发,满足控制精度和响应速度的要求。为满足系统对精度和隔离度提出的更高要求,形成了双速度环的结构,即将屏蔽载体晃动和屏蔽其它干扰因素分开设计,速率陀螺作为反馈元件形成了稳定速度环,直流测速电机作为反馈元件形成常规速度环,其理论和实际的控制性能优于单速度环控制系统。位置外环采用基于滞环特性切换条件的自适应模糊控制系统和复合PID控制系统,模糊控制规则和参数在线自适应调整,并设计滞环特性的区间切换方法,满足对响应速度和鲁棒性的要求。最后通过DSP取代以前的工控机或单片机,实现上述功能。实验和仿真结果验证控制系统的设计能够满足性能指标的要求。更多还原

【Abstract】 Opto-electronic stabilization and tracking systems play a more and more important role in the application of tracking, reconnaissance, surveillance, orientation, navigation systems. In order to keeping the tracking device steady and the line of sight pointing to the target, the framework of servo-control system and the tracking control theory have been studied in this paper.At first the framework, the method and the development of opto-electronic stabilization systems in the world are summarized. Then the common technique of stabilization control system and the principle of insulating the movement of carrier by dual-axes dual-loop opto-electronic platform are introduced. All the analysis provides the general design ideas.To reduce the noise, such as the swing of carrier, the non-linear character of servo motor, and the friction of platform, a dual-loop servo-control system including the inner rate-loop and the outer position-loop is designed. To satisfy the need of precision and bandwidth the inner rate-loop is constituted of dual-loop, in which the classical rate loop is used to reduce the swing of carrier, and the stabilization rate loop is to reduce the other noise. It has been proved that the performance of dual-loop rate loop is much better than the single-loop rate loop. The outer position loop is designed by the method of hybrid adaptive fuzzy control with hysteresis-band characteristic switching to satisfy the requirement of robustness and response time. Finally the DSP realizes the function of design instead of single chip microcomputer or industry personal computer. The simulation and the experiment results illustrate that the system can fulfill the demand of engineering.更多还原