负载扰动下的气球吊篮的方位稳定控制策略  

Balloon Gondola's Azimuth Angle Control Strategy under Payload's Forced Disturbance

作　　者：于伟[1,2,3,4] 马佳光[1,2] 李志俊[1,2] 肖靖[4] 

机构地区：[1]中国科学院光电技术研究所,四川成都610209 [2]中国科学院光束控制重点实验室,四川成都610209 [3]中国科学院研究生院,北京100039 [4]徐州空军学院,江苏徐州221000

出　　处：《微特电机》2012年第4期1-3,6,共4页Small & Special Electrical Machines

基　　金：863高技术研究发展计划资助项目(2008AA8020205)

摘　　要：针对大惯量负载高速机动产生的强扰动,为提高高空气球吊篮的方位控制性能,采用在角位置环内部增加角速度内环的方法抑制扰动。角速度内环利用高采样率的陀螺输出信号作为反馈信息。利用某高空气球吊篮做了阶跃信号的跟踪和加挂负载后的抗扰实验,实验结果:阶跃响应上升时间基本不变,超调由单闭环时的44%降为双闭环时的9%;对转动惯量为吊篮转动惯量15的负载作最大速度55.87°/s、最大加速度175°/s2的正弦运动时带来的强扰动,采用双闭环时吊篮方位角最大误差下降为单闭环时的44.4%。结论:相对于角位置单闭环结构,角位置加角速度双闭环结构的吊篮方位控制系统具有对给定信号响应快、超调小、调节时间短等优点,且具有更强的抗干扰性能。Aiming at forced disturbance generated by payload which has masive rotary inertia and high maneuverability,an inner angle velocity loop plus the angle position loop way was adopt to suppress the disturbance,thus to improve high altitude balloon gondola＇s azimuth angle control performance.The gyro＇s output was used as the inner angle velocity loop＇s feedback information.A high altitude balloon gondola was used to test step signal response and suppress payload＇s disturbance.The forced disturbance was produced by payload whose rotary inertia was one fifth of that of gondola with maximum angle velocity and acceleration of sinusoidal motion set at 55.87°/s and 175°/s2 respectively.Experiment results show that,in comparison with the single-loop structure,the double-loop structure has superiority in terms of overshoot（droped from 44% to 9%） and azimuth tracking error（declined to 44.4%）.It can be concluded that the double-loop structure is better than single-loop structure,for it has quicker response,smaller overshoot,shorter settling time and stronger anti-disturbance capability.

关 键 词：气球吊篮 方位控制 双闭环 陀螺反馈 

分 类 号：TM359.6[电气工程—电机]