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为实现机载光电平台的实时高精度稳定跟踪控制,提出了一种基于改进干扰观测器和模糊逼近的复合自适应补偿控制方法。首先,根据系统的机械结构特点分析了各框架间的运动学耦合关系;考虑到载体扰动的影响,提出了一种基于速度信号的改进干扰观测器结构,并分析了它的工作原理和鲁棒稳定性。然后,针对机械系统中普遍存在的摩擦等干扰现象,设计了基于模糊逼近的复合补偿控制策略以保证系统的跟踪性能。最后,利用Lyapunov稳定性理论证明了系统的全局稳定性和跟踪误差的渐进收敛。实验结果显示,该控制方法具有较高的稳定精度,其跟踪误差可达μrad数量级,表明该方法可以有效地抑制载体扰动的影响并且具有良好的跟踪性能,是可行有效的。
In order to realize the real-time, high-accuracy and stable tracking control of airborne electro-optical platform, a hybrid adaptive compensation control method based on improved disturbance observer and fuzzy approximation is proposed. Firstly, according to the mechanical structure characteristics of the system, the kinematic coupling relation among the frames is analyzed. Considering the influence of carrier disturbance, an improved disturbance observer structure based on velocity signal is proposed and its working principle and robustness are analyzed stability. Then, in view of the common friction phenomena such as mechanical system, a compound compensation control strategy based on fuzzy approximation is designed to ensure the tracking performance of the system. Finally, the global stability of the system and the asymptotic convergence of the tracking error are proved by the Lyapunov stability theory. The experimental results show that the proposed method has higher stability and tracking error up to μrad, which shows that this method can effectively restrain the influence of carrier disturbance and has good tracking performance. It is feasible and effective.