小型红外成像制导稳定平台控制算法研究  

Research on the Control Algorithm of Lightweight Infrared Imaging Guidance Platform

作　　者：李锐华[1] 林宇[1] 

机构地区：[1]昆明物理研究所,云南昆明650223

出　　处：《红外技术》2014年第2期142-147,共6页Infrared Technology

摘　　要：针对小型稳定平台转动惯量小易受冲击力矩扰动影响制导精度的问题,先对稳定平台的力矩刚度进行分析,根据分析结果对传感器与执行机构进行选型。然后利用经典控制理论为速率闭环设计了普通PID控制器。通过分析普通PID控制的不足,对其进行抗饱和积分、适时不完全微分与非线性优化,在此基础上引入对误差变化率的观测量,针对大冲击力矩扰动设计了专家PID控制器。最后利用dSPACE搭建的半实物仿真平台对算法进行仿真测试,测试结果表明专家PID控制减小了冲击扰动造成的角速率误差与角位置误差,使稳定平台具有更好的动态力矩刚度。Aiming at the difficulty that the guidance accuracy of lightweight infrared imaging guidance platform was reduced by the impulsive moment disturbing, this paper analyzes the torque stiffness of stabilized platform then selects sensors and actuators according to the results of the analysis. Then we use the classical control theory to design the speed closed-loop common PID controller. After analyzing the shortcomings of common PID control, to get the anti-saturation integral, timely incomplete differential resistance and nonlinear optimization, on the basis of introducing the error rate of the observation, the expert PID controller is designed against the large impact torque disturbance. Finally the algorithm is simulated and tested on the hardware-in-the-loop simulation test platform based on dSPACE. The simulation test results show that the expert PID control reduces the impact of disturbance error and angular position error caused by angular rate, which makes the stabilized platform has better dynamic torque stiffness.

关 键 词：小型稳定平台 力矩刚度 专家PID控制 红外成像制导 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]