运动光电成像跟踪系统视轴稳定伺服控制设计研究

在对运动光电成像跟踪系统瞄准线视轴稳定单速度环伺服控制结构分析的基础上，提出一种由速度内环和稳定外环组成的串级伺服控制结构，其中速度内环和稳定外环分别由直流测速机和速率陀螺构成闭环反馈．内环调节器采用由模拟硬件实现的有源PI校正，稳定外环采用积分自调整PID复合控制策略．理论分析表明该方法能够将系统抗摩擦力矩干扰和隔离载体扰动功能由内、外速度环分开实现，系统抗干扰性、参数变化敏感性等较单环控制有较大提高．在稳定跟踪模拟转台上的仿真及测试实验显示基于DSP实现的串级控制能够更有效地隔离系统中各种扰动影响，控制性能优于单速度环控制，验证了所采用控制方式的有效性．

Research on LOS Stabilization Servo Control Design of the Moveable O-E Imaging Tracking System

A dual speed loop cascade control structure,which is composed of inner speed loop and outer stabilized loop,is presented based on the analysis for single loop servo control for line of sight(LOS) stabilization in moveable opto-electronic(O-E) tracking system.Therein,the inner closed-loop is constituted by the direct current(DC) tachometer and the outer closed-loop is made up of the rate gyro.The inner loop adopts proportional-integral(PI) tuner to overcome the nonlinearities caused by friction and mechanical resonances and a self-tuning proportional-integral-differential(PID) control algorithm is developed to bate the disturbance of carrier in outer loop.The theoretical analysis shows that the functions of reducing friction disturbance and insulating carrier turbulence can be designed respectively by this structure,and the system performance for disturbances rejection and robustness are better than single rate loop control.The proposed control scheme based on digital signal processing(DSP) has been realized in a four-axis opto-electronic stabilized tracking platform.The experimental results illustrate that the proposed method can achieve higher precision and perfect control performance,and be proven to be effective and practicable in real practical applications.