摩擦自适应补偿在导引头稳定平台控制系统中的应用

Adaptive friction compensation in seeker stabilized platform servo control system

为提高两轴双框架导引头稳定平台的隔离度,设计了导引头控制系统。在惯性空间基础上,建立了导引头的隔离度模型,分析了影响系统隔离度的主要因素。根据对系统摩擦性质的分析,建立了系统的摩擦模型,并确定了摩擦补偿算法。采用极点配置和超前滞后的方法设计了控制器,并通过仿真和实验的方法验证了摩擦自适应补偿算法的可行性。俯仰单通道仿真结果表明,摩擦自适应补偿算法能准确估计出模型参数,且在弹体扰动幅值为1°,频率为2 Hz时,系统在摩擦自适应补偿后,俯仰框隔离度提高了97.14%。实验结果显示,在弹体扰动幅值为1°,频率为2 Hz时,导引头俯仰框和偏航框的隔离度分别为1.58%和1.81%;在弹体扰动幅值为3°,频率为3 Hz时,导引头俯仰框和偏航框的隔离度分别为2.84%和2.15%。

In order to improve the disturbance rejection of seeker stabilized platform, the servo control system was designed. The disturbance rejection model was proposed based on inertia space and the main factors that influence the disturbance rejection were shown. Then, the friction model was established based on the characteristic of friction and the friction adaptive compensation algorithm was proposed. The velocity controller was designed based on the pole-placement method while the lead-lag compensator was used as position controller. Simulation result indicated that the disturbance rejection of pitch frame improved 97.14 percent while the missile disturbance was 1° and 2 Hz. Experimental results showed that the disturbance rejection of two frame were 1.58% ,1.81% and 2.84% ,2.15% while the missile disturbance were 1° and 2 Hz and 3° and 3 Hz. The disturbance rejection of seeker stabilized platform was improved by using friction adaptive compensation.