无人飞行器机载光电平台的双速率环串级控制

Double Speed-Loop Cascade Control of Airborne Electro-Optical Platform for UAVs

为了提高无人飞行器机载光电平台的稳定控制精度,针对单速率环控制的抗扰动性能不足,设计一种基于双速率环的串级控制方法。提出采用以陀螺仪构成内环、以光电编码器微分构成外环的双速率环控制结构,从其抑制扰动性能、鲁棒性能以及动态响应性能上与单速率环结构进行了理论对比分析,最后进行了实验验证。结果表明,该方法具有更好的抗扰动性、鲁棒性以及动态响应性能,能有效地提高无人飞行器机载光电平台的稳定控制精度。

In order to improve the stability control accuracy of airborne electro-optical platform for Unmanned Aerial Vehicles （UAVs）, a kind of cascade stability control method based on double speed-loop was designed in consideration of the low disturbance rejection performance of single speed-loop control. The double speed-loop structure was constructed by using the velocity gyroscope to form the inner loop, and the optoelectronic eneoder to form the outer loop. Theoretic analysis and experiments were carried to the single/double-loop structures on their disturbance rejection performance, robustness and dynamic response performance. The results showed that the double speed-loop structure is more robust and has better performance on disturbance rejection and dynamic response. The method can effectively improve the stability control accuracy of the electro-optical platform mounted on UAVs.