船载光电成像设备视轴自稳定控制

Self-stabilization Control of the boresight of Photoelectric Imaging Equipment on Ship

为了提高船载光电成像设备视轴稳定系统的稳定精度,设计了双速度环控制策略,由光电编码器的角位置信号差分得到框架角速度反馈构成内速度环,外速度环采用光纤速率陀螺感应视轴在惯性空间的转速,经过坐标转换并结合各框架反馈角速度得到框架指令角速度以抑制内部干扰和隔离载体干扰,从而保证视轴的稳定。依据伺服刚度和隔离度两个重要指标,通过理论分析、仿真验证和实验验证,对比双速度环与单速度环控制策略的表现。结果表明双速度环控制策略对因摩擦、偏心等引起的框架内部干扰具有更高的抑制能力,对载体姿态干扰具有更好的隔离能力。

In order to improve the stability accuracy of the boresight stabilization system of the photoelectric imaging equipment on ship,a dual-speed loop control strategy is designed.Frame angular velocity feedback is obtained from the angular position signal difference of the photoelectric encoder to form an internal velocity loop.The outer velocity loop uses a fiber-optic rate gyro to sense the rotation velocity of the boresight in inertial space.After coordinate conversion and combined with the frame feedback angular velocity,the frame command angular velocity is obtained to suppress internal interference and isolate carrier interference,thereby ensuring the stability of the boresight.Based on the two important indexes of servo stiffness and isolation,the performance of dual-speed loop and single-speed loop control strategies is compared through theoretical analysis,simulation verification and experimental verification.The results show that the dual-speed loop control strategy has better ability to suppress the internal interference of the frame caused by friction,eccentricity,etc.,and isolate the carrier attitude interference.