光电稳定跟踪装置的控制系统设计

Servo system design for E-O stabilization and tracking devices

给出了一类光电稳定跟踪装置的框架伺服控制方案,重点研究了速率稳定环的设计过程,使用dSPACE半实物仿真系统进行了速率回路开环特性的模型辨识和高阶滞后超前控制器设计,对于数字化频率特性测试时产生的相位滞后现象进行了理论推导,并提出了相位补偿公式。对于经典控制器可能遇到的精度不足的问题,介绍了相应的非线性补偿方法。针对伺服系统的位置跟踪环和速度稳定环在频域存在的耦合现象,深入分析了产生频域耦合的原因和相应的解耦设计方法,提出了此类系统位置跟踪环和速度稳定环的理想设计模型。在此基础上讨论了姿态干扰隔离度的概念,推导了隔离度的计算公式。对系统工作过程中可能遇到的5种典型情况进行了仿真试验,仿真结果验证了有关概念的正确性。

The typical structure of the servo system of a E-O Stabilization and Tracking Devices （EOSTD） was introduced. Based on dSPACE hardware-in-the-loop simulation system, the common design process of velocity stabilization was researched. Aiming at the phase lag phenomena caused by digital frequency characteristic test, the phase compensation formula was proposed and some nonlinear compensation methods were discussed to achieve high stabilization precision. Analyzing deeply on the frequency coupling of the position tracking loop and the velocity stabilization loop, the corresponding de-coupling method and the ideal model of the position loop and the velocity loop above were presented. Based on that model, the conception of the isolation degree was discussed. Five typical instances were simulated, the position tracking and line of sight stabilization results were provided in the end. The results show the validity of the concerned conception.