基于逆系统的光电平台非线性解耦控制  

Nonlinear Decoupling Control of Optoelectronic Platform Based on Inverse System

作　　者：于洋 张红刚[2] 高军科[2] 左守印 YU Yang;ZHANG Honggang;GAO Junke;ZUO Shouyin(Science and Technology on Electro-Optic Control Laboratory,Luoyang 471000,China;Luoyang Institute of Electro-Optical Equipment,AVIC,Luoyang 471000,China)

机构地区：[1]光电控制技术重点实验室,河南洛阳471000 [2]中国航空工业集团公司洛阳电光设备研究所,河南洛阳471000

出　　处：《电光与控制》2022年第3期95-100,共6页Electronics Optics & Control

摘　　要：针对两轴两框架光电平台电机存在的非线性以及方位与俯仰轴系之间互相影响产生的耦合对控制精度的影响,提出一种基于逆系统的光电平台非线性解耦控制方法。根据两轴光电平台方位与俯仰框架的动力学模型,建立状态空间方程,然后设计逆系统,获取系统的状态变量,并将逆系统与原系统进行串联得到一个伪线性系统,使原来的单个耦合非线性多输入多输出系统转换为两个线性解耦单输入单输出子系统,以消除方位俯仰轴系之间存在的非线性强耦合。在Matlab中建立系统仿真平台,仿真结果表明,所设计的基于逆系统的光电平台非线性解耦方法可以有效减小方位与俯仰轴系之间的耦合,提升平台系统的稳定精度。In view of the nonlinearity of the dual-axis dual-frame photoelectric platform motor and the influence of the coupling caused by the interaction between azimuth and pitch shafting on the control accuracy an inverse system based nonlinear decoupling control method is proposed for photoelectric stabilized platform.Firstly according to the dynamic models of azimuth and pitch frames of the dual-axis photoelectric stabilized platform the state space equation is established and then an inverse system is designed to obtain the state variables of the system.The inverse system is connected in series with the original system to obtain a pseudo linear system which transforms the original single coupled nonlinear multi-input multi-output system into two linear decoupled single-input single-output subsystems so as to eliminate the strong nonlinear coupling between the azimuth and pitch shafting.Finally the system simulation platform is established in Matlab.The simulation results show that the nonlinear decoupling method of photoelectric platform based on inverse system can effectively reduce the coupling between azimuth and pitch axis system and improve the stability accuracy of the platform system.

关 键 词：光电平台 逆系统 非线性解耦控制 解耦 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]