一种提高车载光电平台行进间稳定精度的方法

A Method to Improve the Stability Accuracy of Electro-Optical Platform on the Moving Vehicle

针对车载行进间状态下光电平台稳像效果不佳的问题,提出了一种有效的优化方法,即减小陀螺采样频率和系统控制周期,在驱动电路中增加电流环,同时在控制回路中增加扩张状态观测器实现对扰动的观测和补偿。从摇摆台测试和实际跑车测试两方面检验了所提出方法的有效性。摇摆台三轴3°、2 s摇摆条件下,光电平台双轴稳定精度优于0.15 mil(1σ);土石路面,车速15~30 km/h情况下,光电平台双轴稳定精度优于0.2 mil(1σ)。该方法简单有效,在传统PID算法的基础上,仅需做适当的优化,即可实现较明显的稳定精度改善。该方法同样适合于舰载、机载光电平台,并已在相应的光电平台中得到应用。

In view of the poor image stabilization of the EO platform based on the moving vehicle,an effective method is proposed,reducing gyro sampling frequency and system control cycle,adding a current loop in the driving circuit,and adding an expanded state observer to observe and compensate the disturbance in the control loop. The effectiveness of the method is verified from swing table test and actual moving vehicle test. Under the three axes swing condition at 3°、2s,the dual axis stabilization of the EO platform is better than 0.15 mil(1σ). Under the condition of earth rock pavement and at the vehicle speed of 15~30 km/h,the dual axis stabilization of EO platform is better than 0.2 mil(1σ). Based on the traditional PID algorithm,this method is simple and effective,it can achieve obvious improved stability only by little optimization.This method is also applied on the shipborne and airborne EO platforms.