虚拟复合轴伺服系统的等效复合控制方法  

An equivalent compound control based on a suppositional compound-axis system

作　　者：董浩[1] 霍炬[2] 毕永涛[3] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080 [2]哈尔滨工业大学电气工程系,黑龙江哈尔滨150080 [3]中国运载火箭技术研究院研究发展中心,北京100076

出　　处：《哈尔滨工程大学学报》2011年第3期309-313,共5页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60434010)

摘　　要：在复合轴伺服系统有关理论和实验的基础上,针对无快速反射镜装置的普通光电跟踪平台机动目标跟踪问题,提出虚拟跟踪平台和虚拟跟踪探测器概念,与实际跟踪平台构成虚拟复合轴伺服系统,其系统结构与复合轴伺服系统完全相同.解决了虚拟跟踪探测器算法、虚拟平台对象特性、系统实现问题,从而将虚拟复合轴伺服系统转化为一种等效复合控制方法.采用传统PI控制器、PI+速度滞后补偿控制器与基于该方法的二维PI控制器分析比较跟踪结果.仿真结果显示二维PI控制大幅提高机动目标的稳态跟踪精度,比PI控制提高16倍以上,比速度滞后补偿提高3.7倍以上;测试结果表明,目标做10°/s,5°/s2等效正弦运动时稳态跟踪精度达到1'.A suppositional compound-axis system was generated for an ordinary electro-optical tracking platform without a fast-steering mirror based on the principles and rules of an equivalent compound-axis system.It was composed of a suppositional platform,suppositional detector,and actual tracking platform.Its system structure was completely the same as a compound-axis system.The suppositional detector arithmetic and object characteristics of the suppositional platform were calculated so that the suppositional system could be realized and an equivalent compound control method could be established.At last the traditional PI control,PI with velocity delay compensation,and the two-dimensional PI control were analyzed and compared.During simulation,tracking precision of a two-dimensional PI control based on the equivalent compound control was 16 times higher than that of a PI control and 3.7 times higher than a PI control with velocity delay compensation.The steady state error was less than 1′ when the target moved at a maximum rate of 10°/s angular velocity with a maximum of 5°/s2 angular acceleration.

关 键 词：光电跟踪 虚拟复合轴伺服系统 等效复合控制 二维PI控制 

分 类 号：TH74[机械工程—光学工程]