摘要
为了克服外部干扰对机载光电陀螺稳定平台的影响,实现高稳定精度和隔离度,采用基于伪微分反馈的控制技术对系统的控制性能进行了研究。首先,介绍了伪微分反馈控制技术的基本结构,并对其进行了简化。从理论上分析了简化的伪微分反馈控制技术在控制结构和控制性能上较经典PI控制的优势;然后,提出采用试凑法对伪微分反馈控制器进行参数整定的整定策略;最后,以某型号机载光电陀螺稳定平台为研究对象,对伪微分反馈控制器和PI控制器在抗力矩扰动、隔离载机角速率扰动和控制对象模型摄动等方面进行了仿真对比实验。实验结果表明,在相同的闭环带宽情况下,采用简化的伪微分反馈控制器的机载光电陀螺稳定平台的阶跃响应具有更小的超调,更短的上升和调节时间。在陀螺噪声存在的情况下,该控制器能够有效地抑制力矩和载机的姿态扰动对系统性能的影响;并且对被控对象的模型摄动具有较强的鲁棒性。
In order to overcome the impact of external disturbance on airborne photoelectric gyro stabilized platform,the control strategy based on Pseudo-derivative Feedback（PDF） was applied to achieve high stability and isolation.First,the basic structure of the PDF control was introduced before it was simplified.The advantages of the simplified PDF control in the control structure and control performance compared with classic PI was analyzed theoretically.Then parameters setting strategy of trial and error method for PDF controller was proposed.Finally,a series of simulation comparison experiments were carried out between PDF controller and PI controller in the anti-torque disturbance,isolation of the angular rate disturbance of the vehicle and the plant variation on the airborne photoelectric gyro stabilized platform.The results showed that the servo system of airborne photoelectric gyro stabilized platform with PDF controller was superior to the system with PI controller in the same closed-loop bandwidth.It has smaller overshoot and shorter rise time and regulating time.It is not sensitive to the model variation,and better than PI on the suppression of torque and the airborne attitude disturbances within gyro noise.
出处
《光电工程》
CAS
CSCD
北大核心
2012年第10期128-134,共7页
Opto-Electronic Engineering
基金
国家863高技术项目资助(2008AA121804)
关键词
机载光电陀螺稳定平台
PI控制
PDF控制
参数整定
airborne photoelectric gyro stabilized platform
PI control
pseudo-derivative feedback control
parameters setting
