车载跟瞄转台的扰动补偿控制技术研究

Research on Disturbance Compensation Control Technology of Vehicle Tracking and Pointing Turntable

为提高车载跟瞄转台的抗干扰能力与跟踪精度,对转台性能进行了测试和分析。采用扰动补偿方法,将速率陀螺测得角速度前馈到速度环输入端,通过陀螺测量外部已知扰动,实现对车体振动的扰动抑制和补偿,再将自抗扰控制技术中的扩张状态观测器(ESO)引入位置环控制器,以实现对转台位置和未知扰动的观测和实时补偿。比较实验结果表明:采用速度前馈和PI+ESO的控制方法,在最大角速度10°/s,角加速度10°/s2的正弦干扰跟踪测试中,跟踪均方误差为11.64μrad(1σ),相比PI控制的111.5μrad(1σ)提高了9.58倍。

In order to improve the anti-jamming capability and tracking accuracy of the on-board tracking and aiming turntable,the performance of the turntable is tested and analyzed in this paper. The disturbance compensation method is adopted to feed forward the angular velocity measured by the rate gyro to the input end of the speed loop;and the external known disturbance is measured by the gyro to realize the disturbance suppression and compensation of the vehicle body vibration;and then the expansion state is observed in the auto disturbance rejection control technology. The position loop controller(ESO) is introduced to realize the observation and real-time compensation of the position of the turntable and unknown disturbances. The results of comparative experiments show that using the speed feedforward and PI+ESO control methods,in the sinusoidal interference tracking test with a maximum angular velocity of 10 °/s and an angular acceleration of 10 °/s~2,the tracking mean square error is 11.64 μrad(1σ),It is 9.58 times higher than PI control of 111.5 μrad(1σ).