高精度光电跟踪系统中伺服稳定控制算法研究

Servo stabilization control algorithm in high-precision photoelectric tracking system

针对光电跟踪稳定平台系统中载机振动、系统参数摄动、摩擦力矩及外部扰动等因素直接影响光电跟踪系统稳定精度的问题,从伺服控制器控制角度出发抑制跟踪系统中的偏差,提高稳定精度,保证其在复杂环境下仍具有强鲁棒性。通过建立光电跟踪稳定平台系统的数学模型,分析干扰力矩、陀螺噪声及系统参数的变化对光电稳定平台的影响,设计了基于新型非线性扩张观测器(novel nonlinear extended state observer,NNESO)和滑模变结构控制(sliding mode varianle structure control,SMVSC)的复合控制策略。理论推导和仿真实验结果表明:此种复合控制策略具备对干扰力矩、外界扰动和系统结构参数摄动的完全适应性和强鲁棒性,对比无新型非线性扩张观测器的控制系统,证明其拥有更高的稳定精度和更快的动态响应,在补偿非线性方面具有良好的效果,可增强光电跟踪稳定平台的抗扰动能力。

Aiming at the problem of carrier vibration,system parameter perturbation,friction torque and external disturbance in photoelectric tracking and stabilization platform system that directly affect the stability accuracy of photoelectric tracking system,the deviation in the tracking system was suppressed from the servo controller control perspective to improve the stability accuracy and ensure its strong robustness in the complex environment.By establishing the mathematical model of the photoelectric tracking and stabilization platform system,the influence of disturbance torque,gyro noise and system parameter changes on the photoelectric tracking and stabilization platform was analyzed,and the compound control strategy based on the novel nonlinear extended state observer(NNESO)and sliding mode variable structure control(SMVSC)was designed.The results of theoretical derivation and simulation experiments show that this kind of compound control strategy has full adaptability and strong robustness to disturbance torque,external disturbance and system parameter perturbation.At the same time,compared with the control system without the novel nonlinear extended state observer,it proves that the compound control strategy has higher stability accuracy and faster dynamic response,which has good effect in compensating the nonlinearity and can enhance the anti-disturbance ability of the photoelectric tracking and stabilization platform.