吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (6): 1876-1885.doi: 10.13229/j.cnki.jdxbgxb201706028

• 论文 • 上一篇    下一篇

基于扰动观测器的光电稳定平台摩擦补偿策略

晋超琼1, 2, 3, 张葆1, 2, 李贤涛1, 2, 申帅1, 2, 3, 朱枫1, 2, 3   

  1. 1.中国科学院 长春光学精密机械与物理研究所,长春 130033;
    2.中国科学院 航空光学成像与测量重点实验室,长春 130033;
    3.中国科学院大学,北京 100049
  • 收稿日期:2016-06-27 出版日期:2017-11-20 发布日期:2017-11-20
  • 通讯作者: 张葆(1966-),男,研究员,博士.研究方向:航空光电成像技术.E-mail:zcleresky@vip.sina.com
  • 作者简介:晋超琼(1990-),女,博士研究生.研究方向:航空光电稳定平台视轴稳定.E-mail:jincqhit@126.com
  • 基金资助:
    “863”国家高技术研究发展计划重点项目(2013AA122102)

Friction compensation strategy of photoelectric stabilized platform based on disturbance observer

JIN Chao-qiong1, 2, 3, ZHANG Bao1, 2, LI Xian-tao1, 2, SHEN Shuai1, 2, 3, ZHU Feng1, 2, 3   

  1. 1.Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
    2.Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033;
    3.University of Chinese Academy of Sciences, Beijing 100049, China
  • Received:2016-06-27 Online:2017-11-20 Published:2017-11-20

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摘要： 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3 Hz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14.52 dB;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。

关键词: 自动控制技术, 航空光电稳定平台, 摩擦补偿, 参数辨识, 扰动观测器

Abstract: In order to improve the isolation degree of disturbance of photoelectric stabilized platform, a friction compensations strategy based on Disturbance Observer (DOB) was put forward. First, the model of velocity loop was established by mechanism analysis, then a disturbance control scheme was proposed. Second, the identifications of the friction model parameters were determined by experiments. Based on the friction compensation control strategy, the DOB control strategy was designed. The accuracy of the strategy was verified by experiments. Finally, in order to test the feasibility and necessity of the control scheme, the aerial photoelectric stabilized platform was installed on the simulation platform, and the disturbance rejection capability of the platform was tested after the friction compensation and DOB were used. Experiment results show that, when the frequency of disturbance is within 3 Hz, the system disturbance isolation degree is increased by at least 14.52 dB. When the system is running at low speed, the tracking performance is improved obviously, and the tracking error is reduced from 0.1959 °/s to 0.0838 °/s. This control strategy can attenuate the mass unbalance torque. It has strong robustness and practical value.

Key words: automatic control technology, aerial photoelectrical stabilized platform, friction compensation, parameter identification, disturbance observer(DOB)

中图分类号: 

  • TP273
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