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为了进一步提高航空光电稳定平台的抗干扰能力,提出了一种基于LuGre摩擦模型与扰动观测器(DOB)相结合的扰动补偿控制方案。首先,对某型两轴两框架平台系统速度环进行建模,并进行扰动分析,设计了扰动控制方案。然后,对平台进行摩擦模型参数辨识试验,在摩擦补偿的基础上设计扰动观测器,并通过仿真试验验证了方案的可行性。最后,为了测试该控制方案的可行性和必要性,将航空光电稳定平台安装于模拟转台上进行试验,测试其加入摩擦补偿和扰动观测器后平台的扰动抑制能力。试验结果表明:该控制方案在模拟飞行转台以3Hz以内任意频率正弦运动的情况下,系统的扰动隔离度至少提高了14.52dB;且系统在低速运行时,其跟踪性能明显提高,跟踪误差的均方值由原来的0.1959°/s减小到0.0838°/s。同时,通过振动试验验证了该控制方案对质量不平衡引起的干扰也有很好的抑制作用,具有较好的鲁棒性和较高的实用价值。
In order to further improve the anti-interference capability of aeronautical electro-optical stable platform, a disturbance compensation control scheme based on LuGre friction model and disturbance observer (DOB) is proposed. First of all, the speed loop of a type of two-axis and two-frame platform system is modeled and perturbed, and the disturbance control scheme is designed. Then, the parameters of the friction model are tested on the platform, and the disturbance observer is designed on the basis of the friction compensation. The feasibility of the scheme is verified by the simulation experiment. Finally, in order to test the feasibility and necessity of the control scheme, the aeronautical electro-optical stabilized platform was installed on a simulated turntable to test the platform’s disturbance rejection after adding friction compensation and disturbance observer. The experimental results show that the proposed scheme can improve the isolation of the system by at least 14.52dB when the flight path of the flight simulator is sinusoidal at any frequency within 3Hz. When the system operates at low speed, the tracking performance is obviously improved. The tracking error The square value is reduced from 0.1959 ° / s to 0.0838 ° / s. At the same time, the vibration test proves that this control scheme can also restrain the interference caused by the imbalance of mass well, and has better robustness and higher practical value.