摘要
针对航空遥感惯性稳定平台框架伺服系统中齿隙非线性环节造成的系统驱动延时、换向跳变及冲击振荡等问题,对航空遥感惯性稳定平台齿隙非线性进行建模与补偿。在分析齿隙非线性环节结构和传动特点基础上,建立了齿隙非线性死区模型;利用MATLAB仿真分析了齿隙对系统性能的影响;以框架伺服系统为研究对象,应用反步积分法,通过依次选择Lyapunov函数,设计了基于状态反馈的控制器,并进行实验验证。结果表明:齿隙误差补偿可有效提高系统控制精度;与传统PID控制相比,反步积分法显著降低了齿隙非线性对伺服系统性能的影响,在给定框架期望转角情况下,反步积分法比PID控制响应速度提高78.26%、稳态精度提高23.1%。
Aiming at the problems, such as system driving delay, sudden hop in phase changing, shocking vibration, and etc. caused by the backlash nonlinearity in the frame servo system of inertially stabilized platform （ISP） used in aerial remote sensing,the backlash nonlinearity in the frame servo system of ISP used in aerial remote sensing is modeled and com- pensated. Based on analyzing the characteristics of backlash nonlinearity and transmission, a dead-zone model describing the backlash nonlinearity is established. The influences of backlash impact on system performance are analyzed in simula- tion using Matlab. Taking the frame servo system as the studying object and using the backstepping integral control meth- od,a controller based on state feedback was designed through successively choosing Lyapunov functions, and experiments were carried out to verify the proposed control method. Experiment results indicate that the system control precision has been effectively improved after compensating the backlash error. Compared with traditional PID control method,the back- stepping integral control method obviously deduces the influence of backlash nonlinearity impact on servo system performance. Under given frame expecting angels, compared with PID control method,the backstepping integral control method increases the responding speed by 78.26% and increases the stabilizing accuracy by 23.1%.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2013年第8期1703-1710,共8页
Chinese Journal of Scientific Instrument
基金
国家973计划(2009CB724001)
国家863计划(2012AA120601)
国家自然科学基金(51205019)资助项目
关键词
航空遥感
惯性稳定平台
框架位置伺服系统
反步积分控制
齿隙非线性
aerial remote sensing
inertially stabilized platform （ISP）
frame position servo system
backstepping integral control
backlash nonlinearity
