王新伟, 王惠林, 韩瑞, 杜言鲁, 巩全成, 任元斌, 李涛. 基于扰动源分类控制的二维陀螺平台过顶稳定方法[J]. 应用光学, 2021, 42(6): 989-996. DOI: 10.5768/JAO202142.0601007
引用本文: 王新伟, 王惠林, 韩瑞, 杜言鲁, 巩全成, 任元斌, 李涛. 基于扰动源分类控制的二维陀螺平台过顶稳定方法[J]. 应用光学, 2021, 42(6): 989-996. DOI: 10.5768/JAO202142.0601007
WANG Xinwei, WANG Huilin, HAN Rui, DU Yanlu, GONG Quancheng, REN Yuanbin, LI Tao. Passing zenith stabilization method of two-dimensional gyro platform based on disturbance sources classification control[J]. Journal of Applied Optics, 2021, 42(6): 989-996. DOI: 10.5768/JAO202142.0601007
Citation: WANG Xinwei, WANG Huilin, HAN Rui, DU Yanlu, GONG Quancheng, REN Yuanbin, LI Tao. Passing zenith stabilization method of two-dimensional gyro platform based on disturbance sources classification control[J]. Journal of Applied Optics, 2021, 42(6): 989-996. DOI: 10.5768/JAO202142.0601007

基于扰动源分类控制的二维陀螺平台过顶稳定方法

Passing zenith stabilization method of two-dimensional gyro platform based on disturbance sources classification control

  • 摘要: 针对二维陀螺平台方位瞄准线控制在过顶位置时因驱动轴和敏感轴存在非线性约束导致的不稳定问题,分析了不同类型扰动源对方位瞄准线稳定的影响及其随俯仰角变化的规律,提出了基于扰动源分类控制的过顶稳定方法。该方法采用反馈和前馈双通道复合控制结构,在过顶位置时基于控制结构自身消除陀螺测量噪声放大导致的内生力矩扰动,通过增加前馈通道的滤波环节,抑制横滚扰动高频分量引起的力矩扰动,解决了过顶位置时方位驱动轴震荡的问题,同时通过反馈通道和前馈通道分别实现对方位扰动和横滚扰动低频分量的有效隔离。仿真结果表明,该方法能够大幅衰减陀螺测量噪声和横滚扰动高频分量引起的方位电机力矩扰动幅值,增强系统稳定性。最后通过某二维陀螺平台进行了实验,过顶位置时瞄准线方位经受振动条件下的稳定精度由82.4 μrad 减小为44.6 μrad,经受摇摆条件下的隔离度由−14.54 dB提升至−27.85 dB。实验结果验证了该方法能够有效提升过顶位置方位瞄准线的扰动隔离性能。

     

    Abstract: Aiming at the instability problem caused by the nonlinear constraint between the driving axis and the sensitive axis of the azimuth line-of-sight (LOS) control with the two-dimensional gyro platform, the variation rules of influence of azimuth line-of-sight (LOS) by different types of disturbance sources were analyzed, and a passing zenith stabilization method based on the disturbance sources classification control was proposed. This method used the feedback and feedforward dual channel compound control structure, eliminated the endogenous torque disturbance caused by gyro measurement noise amplification in the zenith position based on the control structure itself, and the torque disturbance caused by the high frequency component of the roll disturbance was suppressed by adding the filtering link of the feedforward channel, then the vibration problem of the azimuth drive axis in zenith position was solved. At the same time, the azimuth and the low frequency component of the roll disturbance were effectively isolated by the feedback channel and the feedforward channel. The simulation results show that this method can effectively suppress the amplitude of azimuth motor torque disturbance caused by the gyro measurement noise and high frequency component of the roll disturbance, and enhance the system stability. Finally, an experiment was carried out on a two-dimensional gyro platform. The stabilization precision of the line-of-sight bearing subjected to vibration in zenith position was reduced from 82.4 μrad to 44.6 μrad, and the isolation ratio was increased from −14.54 dB to −27.85 dB under the swing condition. The experimental results show that this method can effectively improve the disturbance isolation performance of azimuth line-of-sight in zenith position.

     

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