光电稳定平台伺服机构低速及稳定性能控制方法研究  

Research on Control Method for Improving Low Speed Performance and Stable Precision of Electro-optic Servo System

作　　者：祁超 范世珣 谢馨 陈宁 范大鹏[1] 江献良 QI Chao;FAN Shi-xun;XIE Xin;CHEN Ning;FAN Da-peng;JIANG Xian-liang(School of Artificial Intelligence,National University of Defense Technology,Changsha 410073,Hunan,China)

机构地区：[1]国防科技大学智能科学学院,湖南长沙410073

出　　处：《兵工学报》2018年第10期1873-1882,共10页Acta Armamentarii

基　　金：国家"973"计划项目(2015CB057503)

摘　　要：由于光电稳定平台伺服机构中不可避免地存在转矩扰动,传统控制方法难以对其补偿达到满意性能,针对此问题,提出一种状态扩展Kalman滤波算法。结合前馈控制提升伺服带宽,实现伺服机构低速平稳性和稳定精度的优化;为验证该算法的有效性,对采用直驱、谐波传动以及摆线针轮行星传动的光电伺服机构开展了多组控制性能实验对比。实验结果表明,相比于传统控制方法,所提控制算法能够更为有效地补偿转矩扰动,显著提升光电伺服机构的低速平稳性及稳定性能。Servo mechanism is the core component of electro-optic stabilized platform,and its low speed performance and stable precision are the key technical indicators.The satisfactory performance of electro-optic stabilized platform is always difficult to be achieved due to the nonlinear disturbance,which cannot be eliminated by linear close-loop method,such as PID control law.A control method based on the state augmented Kalman filter(SAKF)is proposed to suppress the torque disturbance.The numerous groups of experiments were conducted for method verification,which shows a well compensation for the torque disturbance and the significant improvements of low speed performance and stable precision by the SAKF-based control method.

关 键 词：光电伺服机构 KALMAN滤波 扰动补偿 前馈控制 低速平稳性 稳定精度 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置] TJ810.376[自动化与计算机技术—控制科学与工程]