光电跟踪系统固有特性灵敏度分析

Sensitivity analysis of inherent characteristics in photoelectric tracking system

系统的固有不确定性导致其精确模型的建立难以实现。针对光电跟踪系统的结构不确定性建立其物理模型,得到该系统的传递函数,在此基础上应用一阶灵敏度函数法推导出系统灵敏度函数矩阵,并通过轨迹灵敏度法和摄动法获取系统灵敏度曲线和数值。灵敏度的轨迹表明电机电阻对速度输出影响最大;电动机-传动链-负载的等效转动惯量Jm对速度输出影响也相对较大;电机电感L对速度的输出的影响最小。电动机-传动链-负载的等效转动惯量Jm对加速度的影响最大,其次是电机电阻,电机电感对加速度几乎没有影响。利用摄动法对速度灵敏度进行了验证,结论与轨迹灵敏度法相同。

It is difficult to set up a precise model because of the inherent uncertainties of a photoelectric tracking system. The physical model of inherent characteristics was built for structural uncertainties of the photoelectric tracking system,and the transfer function of the system was obtained. On this basis,the sensitivity function matrix can be derived by first-order sensitivity function method,and the sensitivity curve and value can also be gotten by trajectory sensitivity method and perturbation method. The sensitivity track shows that the resistance of motor has the biggest influence on speed;the equivalent rotational inertia Jm of motor-transmission chain-load can also affect the speed;the inductance L of motor has minimal effect on speed. The equivalent rotational inertia Jm of motor-transmission chain-load has the biggest influence on acceleration;the second is the resistance of motor;the inductance L of motor has almost no effect on acceleration. Speed sensitivity is verified by perturbation method,and the obtained conclusion is the same as trajectory sensitivity method.