航空光电稳定平台高性能摩擦力补偿方案

doi:10.7527/S1000-6893.2017.321350

电子电气工程与控制

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航空光电稳定平台高性能摩擦力补偿方案

王正玺^1,2, 张葆¹, 李贤涛¹, 张士涛^1,2, 马丙华^1,2

1. 中国科学院长春光学精密机械与物理研究所中国科学院航空光学成像与测量重点实验室, 长春 130033;
2. 中国科学院大学, 北京 100049

收稿日期:2017-04-25 修回日期:2017-09-08 出版日期:2017-12-15 发布日期:2017-09-08
通讯作者: 张葆 E-mail:cleresky@vip.sina.com
基金资助:
中科院长春光机所重大创新工程项目（Y3CX1SS14C）

Friction compensation strategy of high performance for aerial photoelectrical stabilized platform

WANG Zhengxi^1,2, ZHANG Bao¹, LI Xiantao¹, ZHANG Shitao^1,2, MA Binghua^1,2

1. Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China

Received:2017-04-25 Revised:2017-09-08 Online:2017-12-15 Published:2017-09-08
Supported by:
Key Innovation Project of the Chinese Academy of Science in Changchun Institute of Optics (Y3CX1SS14C)

摘要/Abstract

摘要： 为了在传统控制器基础上进一步提高航空光电稳定平台的性能，减轻机械伺服系统中摩擦环节对视轴（LOS）稳定及激光指向带来的负面影响，提出了一种基于自抗扰控制器（ADRC）的高性能摩擦力补偿方案。首先，在原有系统中引入LuGre模型来初步抑制摩擦对伺服系统的扰动；然后，通过设计自抗扰控制器对摩擦补偿后仍然存在的残余扰动进行进一步抑制；最后为了验证本控制策略对系统扰动的抑制效果，将航空光电稳定平台安装在飞行模拟转台进行实验，测试加入基于自抗扰控制器的摩擦补偿方案前后的性能对比。实验结果表明：对比传统的控制方案，在速度稳定实验中，引入摩擦力和自抗扰相结合控制方案的光电平台扰动隔离度至少提高了14 dB，在目标跟踪实验中，系统的视轴晃动强度也至少降低了78.9%。该补偿方案易于实现，与光电平台的兼容性好，满足航空光电稳定平台的高精度要求。

关键词: 航空光电稳定平台, LuGre模型, 摩擦补偿, 自抗扰控制器, 扰动抑制

Abstract: To improve the performance of airborne photoelectric stabilized platform on the basis of traditional controller and reduce the negative influence of friction in Line of Sight (LOS) stabilization and pointing of mechanical servo system, a scheme for friction compensation control based on the Active Disturbance-rejection Controller (ADRC) is proposed. First, the LuGre model is introduced into the original system to suppress the disturbance of the servo system. Then, the residual disturbance caused by the friction compensation is further suppressed by designing the ADRC controller. To verify the disturbance rejection performance of the control strategy, the aviation photoelectric stabilized platform is installed in the flight simulator experiment test. The performance before and after addition of the friction compensation scheme based on the ADRC is compared. Experimental results show that compared with the traditional control scheme, the isolation of the photoelectric platform with the scheme proposed is improved by at least 14 dB. In the target tracking experiment, the system's LOS stabilization is reduced by at least 78.9%. The compensation scheme is easy to realize and is compatible with the photoelectrical platform, meeting the requirements of high precision aeronautical optoelectronic stability platform.

Key words: aerial photoelectrical stabilized platform, LuGre model, friction compensation, ADRC, disturbances rejection

中图分类号:

TP273

王正玺, 张葆, 李贤涛, 张士涛, 马丙华. 航空光电稳定平台高性能摩擦力补偿方案[J]. 航空学报, 2017, 38(12): 321350-321350.

WANG Zhengxi, ZHANG Bao, LI Xiantao, ZHANG Shitao, MA Binghua. Friction compensation strategy of high performance for aerial photoelectrical stabilized platform[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(12): 321350-321350.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

航空光电稳定平台高性能摩擦力补偿方案

Friction compensation strategy of high performance for aerial photoelectrical stabilized platform

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