潜望式空间光电目标捕获终端脉冲控制方法研究  

Pulse Control Method Design for Periscopic Structure Terminal in Spacial Optical Target Acquisition System

作　　者：周彦平[1] 付森[1] 于思源[1] 王健[1] 宋义伟[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《电子学报》2011年第11期2610-2614,共5页Acta Electronica Sinica

基　　金：国家自然科学基金(No.60432040)

摘　　要：潜望式光电终端由于其光学系统不在回转机构中,可以大大减少系统的重量,所以近年来被广泛地使用在空间光电系统中.但是其非对称式结构会因为空间环境中的低温、真空条件发生冷焊现象而引起终端中转台的摩擦力矩呈非线性状态,进而影响控制器对转台的控制精度.针对该问题,本文提出了一种利用软件方法实现的＂动态润滑＂的概念,通过高频脉冲叠加PID控制方法,在闭环控制器的输出端叠加高频脉冲因子,使得系统处于动态稳定的状态,实现对转台轴承的动态＂润滑＂,补偿了摩擦力矩,使控制器输出无死区,从而有效地保证控制器输出的线性度.最后还通过利用高低温环境试验验证了该控制方法的实际效果.试验中实测得转台在温度由-30℃~50℃期间的定位精度均小于10μrad,正弦曲线跟踪精度小于28μrad,并且分布较为均匀.实验结果表明,采用高频脉冲叠加PID控制方法达到了补偿摩擦力矩的效果,实现了在温度环境变化较大的条件下对光电终端进行高精度、稳定控制,满足对在空间任务中的瞄准和跟踪要求.Due to the optical system is not in the rotating mechanism which can greatly reduce the weight of system,Periscopic Structure has been widely used in recent years in photoelectric terminal.But its periscope asymmetric structure always faces the phenomenon of cold welding,non-linear friction torque which caused by the low-temperature vacuum in space environment.In order to solve these problems and also to improve the control precision,a ＂dynamical lubricate＂ conception is proposed in this dissertation,which based on the dual-loop PID control,it includes position-loop and velocity-loop controller and a high-frequency pulse controller.The controller can lubricate the bearing and make the system in a dynamically status by using ＂soft＂ algorithm.The friction torque is compensated and the range of the controller linearity is ensured.At last a space temperature simulation experiment was held to test the effect.The temperature range was set from-30 degree to 50 degree.The positioning accuracy in the experiment is less than 10μrad,sinusoidal tracking accuracy is less than 28μrad.This result shows that by using the new control algorithm,an high-precision control needs is achieved during the great range of temperature and the tracking errors are distributed evenly.

关 键 词：光电系统 潜望式结构 摩擦力矩 高频脉冲控制 PID 动态润滑 

分 类 号：TN929.11[电子电信—通信与信息系统] TP273.3[电子电信—信息与通信工程]