航空相机前向像移补偿的线性自抗扰控制  

Linear auto disturbance rejection control of forward image motion compensation in aerial cameras

作　　者：黄浦[1,2] 葛文奇[1] 李友一[1] 李军[1,2] 修吉宏[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《光学精密工程》2011年第4期810-819,共10页Optics and Precision Engineering

基　　金：国家863高技术研究发展计划资助项目(No.2009AA7010102)

摘　　要：为消除飞机姿态角速度变化对摆扫式航空相机反射镜组件进行前向像移补偿时的扰动,设计了线性自抗扰控制器(LADRC),研究了角速度扰动与力矩扰动的等效关系和扰动估计及补偿方法。首先,分析了飞机姿态角速度扰动对像移补偿的影响;然后,建立了有力矩扰动作用时反射镜系统的数学模型,设计了用于扰动观测与估计的线性扩张状态观测器及带扰动补偿环节的控制律。最后,在反射镜组件上对LADRC的控制性能进行了实验,并与目前航空相机常用的滞后超前校正进行了比较。实验结果表明,与滞后超前校正相比,施加同样的扰动,线性自抗扰控制的扰动残差在1.4%以内,减小了75%左右,稳速精度达到0.25%,提高了扫描反射镜的稳速性能和鲁棒性。A Linear Auto Disturbance Rejection Controller（LADRC） is designed to eliminate the dis- turbance from the variational aircraft gesture angle velocity on forward image motion compensation of the reflector in an aerial camera. The research includes the equivalent relation between angle velocity and torque disturbance, as well as the estimation and compensation methods of disturbance. Firstly, the influence of angle acceleration on the image motion compensation is analyzed. Then, a mathematic model of reflector system is established with consideration of the torque disturbance, and a linear extended state observer to estimate the disturbance and a control law with disturbance compensation link are designed. Finally, an experiment on the reflector is performed to test the control performance of the LADRC. Experiment results indicate that residual error of LADRC is within 1.4%, which has reduced 75 % as compared with that of traditional lag-lead compensation method. Furthermore,the stable state speed precision of the LADRC reaches 0.25%. In conclution, the control method improves the reflector performance of cameras in speed precision and robustness.

关 键 词：像移补偿 角速度扰动 扰动估计 扩张状态观测器 线性自抗扰控制 

分 类 号：V447.3[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]