跟踪微分器在陀螺信号去噪方面的应用  

Application of tracking differentiator to gyro signal denoising

作　　者：朱枫[1,2] 张葆[1] 李贤涛 晋超琼 申帅[1,2] 

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]中国科学院大学,北京100049

出　　处：《中国光学》2017年第3期355-362,共8页Chinese Optics

基　　金：国家高技术研究发展计划(863计划)资助项目(No.2013AA122102)~~

摘　　要：为了提高航空光电稳定平台的视轴稳定精度,采用跟踪微分器作为滤波器,对输入信号进行滤波,改善随机噪声对控制精度带来的负面影响。跟踪微分器会产生相位延迟,根据它得到的滤波信号及其微分信号,采用预报方法对滤波后的信号进行补偿。算法不依赖对象模型,计算量较小,易于实现。本文阐述了该算法的离散数学表达式,给出数值仿真分析,并在某型航空光电稳定平台上进行实验验证。结果表明:相较于巴特沃斯滤波器,跟踪微分器提高了阶跃响应的性能,最大超调量减少10.5%,上升时间缩短了4.5 ms,调整时间缩短50 ms。基本满足控制系统的实时性、快速性、稳定可靠、精度高、抗干扰能力强等要求。研究表明跟踪微分器对于航空光电稳定平台的精度提高,有比较好的实用价值。In order to improve the aviation optical axis stabihzation accuracy of the photoelectric stabilized platform, we use tracking differentiator as filter to decrease the negative effects of random noise on the control accuracy, on the basis of the filtered signals and their differentiated signals, the phase delays after being filtered are compensated by predicting. This algorithm is model-independent and easy to implement with small calculation. In this paper, the discrete mathematics of the algorithm is described, and the numerical simula- tion and experimental verification are conducted and applied to the photoelectric stabilized platform for avia- tion. The results show that the tracking differentiator, compared with the Butterworth filter, can improve the performance of the step response, 4. 5 ms, shorten the setting time by shorten the maximum 50 ms. The simulation overshoot by 10. 5%, cut down the rise time by and experiment proved the validity and practicability of the algorithm. It can meet the system requirements for real time, higher precision and rapid speed, as well as strong anti-jamming and stabilization. It also indicates that the tracking differentiator provide good value for the improvement of the precision of the photoelectric stabilized platform for aviation.

关 键 词：跟踪微分器 滤波 随机噪声 相位延迟 航空光电稳定平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]