舰载光电经纬仪视轴稳定双速度环串级控制

Dual Rate-Loop Cascade Control for Stabilization of Carrier-Based Electro-Optical Theodolite

为了提高舰载经纬仪视轴稳定控制系统的跟踪精度,针对单速度环的结构缺点,设计了双速度环串级控制方法,内环由编码器作为反馈元件测量视轴自身的转速,外环采用速率陀螺测量视轴在惯性空间下的转速,分别设计两个控制器来抑制内部干扰和隔离载体干扰。从伺服刚度和隔离度两方面与单速度环进行了分析和比较,并进行仿真分析和验证。结果表明,双速度环系统对因摩擦等引起的内部扰动具有更好的抑制能力,并且在高海况下具有更高的隔离度。

In order to improve the tracking precision of control system of carrier-based electro-optical theodolite and overcome the shortcoming of single rate-loop servo control structure,a dual rate-loop cascade control method was presented in which the measuring signals of encoder and rate gyro were respectively employed to constitute the inner rate loop,and the outer rate loop and two controllers were designed to reject inner disturbance and insulate carder turbulence.The system performances of servo stiffness and isolation degree were analyzed and compared with single rate -loop control through simulation.The results show that the dual rate-loop cascade control method can improve the precision of control system through reducing the error caused by friction and has a better isolation degree under sever sea state.