基于扩张状态观测器的空间跟瞄转台指向控制方法  

A Pointing Control Method of the Space Tracking Turntable Based on Extended State Observer

作　　者：王语晨 康建兵[1] 林喆[1] 彭建军 许志炜 WANG Yuchen;KANG Jianbing;LIN Zhe;PENG Jianjun;XU Zhiwei(Beijing Institute of Space Mechanics&Electricity,Beijing 100094,China;Huanghe Hydropower Development Co.Ltd.,Golmud Branch,Golmud 816099,China;China Three Gorges Renewables(Group)Co.Ltd.,Beijing 101199,China)

机构地区：[1]北京空间机电研究所,北京100094 [2]黄河上游水电开发有限责任公司格尔木分公司,格尔木816099 [3]中国三峡新能源(集团)股份有限公司,北京101199

出　　处：《航天返回与遥感》2022年第5期78-89,共12页Spacecraft Recovery & Remote Sensing

基　　金：国家自然科学基金(62227812)。

摘　　要：空间光电跟瞄系统对“远、暗、小、密”目标低速跟踪指向过程中,由于摩擦扰动、电机槽隙力矩波动扰动和传感非线性等因素,引发跟瞄转台低速爬行现象,导致瞄准误差增大,跟瞄成像抖动。针对这一问题,提出一种基于扩张状态观测器(Extended State Observer,ESO)的指向控制方法,在建立跟瞄转台矢量控制模型的基础上,提出双ESO复合控制方法,对引发跟瞄抖动和扰动的因素进行了在线观测与补偿。通过数值仿真对该方法的有效性进行验证,仿真结果表明,相比于传统比例积分(PI)控制方法与单转速环ESO方法,该方法可有效提高光电跟瞄转台在低速跟瞄时的跟瞄精度与平稳性。In the low-speed tracking and pointing process of"far,dark,small and dense"targets in space photoelectric tracking and pointing system,the tracking and pointing turntable crawls at low speed due to friction disturbance,motor slot torque fluctuation disturbance and sensor nonlinearity,which leads to the increase of aiming errors and the jitters in tracking and pointing imaging.To solve this problem,a pointing control method based on Extended State Observer(ESO)was proposed.Based on the vector control model of the tracking and pointing turntable,a dual ESO composite control method is proposed to observe and compensate the factors causing tracking and pointing jitter and disturbance online.The effectiveness of the proposed method is verified by numerical simulation.Simulation results show that compared with traditional PI control methods and ESO methods,this method can effectively improve the tracking accuracy and stability of the photoelectric tracking turntable at low speed.

关 键 词：指向控制 空间转台 双扩张状态观测器 永磁同步电机 光电跟瞄系统 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]