船摇速度补偿算法在两轴天线伺服系统中的应用研究

Study and Application of Ship-swaying Speed Compensation Algorithm in Two-axis Antenna Servo System

在海洋环境下进行遥测任务时,船摇对天线的指向精度及跟踪精度影响很大。针对方位俯仰型两轴天线伺服系统,通过在伺服环路中引入船摇速度补偿,降低船摇对伺服系统控制精度的影响。首先对速度补偿算法进行简要的理论分析,明确其抗船摇扰动的机理。然后对惯导采集的船摇速度进行坐标变换,把三轴的船摇速度信息变换到天线方位俯仰轴上,进而得出船摇在天线方位俯仰轴上的速度扰动量。最后设计了两组试验,对速度补偿算法的正确性及其抗船摇的效果进行验证。结果表明,在天线伺服系统中添加速度补偿后,天线的指向精度明显提高,方案简单有效。

For the telemetry task in the marine environment, the pointing accuracy and tracking accuracy of antenna servo system are seriously affected by the ship-swaying. In order to reduce the influence of ship-swaying, the ship-swaying speed compensation is added in the antenna servo system. Firstly, the compensation algorithm is analyzed, and its principle of anti ship-swaying is made clear. Then the coordinate transformation of ship-swaying velocity that is collected by inertial navigation system is carried out, and the disturbance quantities of ship-swaying speed on the antenna azimuth axis and elevation axis are calculated. At last, two groups of experiments to verify the correctness of ship-swaying speed compensation algorithm and the effect of anti ship-swaying are designed. The result shows that the pointing accuracy of antenna is improved, and the method proposed in this paper is simple and effective.