航空光电载荷串级动态复合限幅分幅步进控制

Cascade dynamic hybrid amplitude limitation frame division step control of airborne optical electronic load

在某型面阵分幅步进成像的航空光电载荷中,俯角分幅步进控制系统存在位置给定突变以及电机启停导致机身整体微晃动的问题,使系统调整时间延长超过时序控制并影响成像效果。提出了串级动态复合限幅控制方法,在带有Anti-Windup的主副回路串级控制基础上,根据“一周拍照开始信号”和“位置/速度控制信号”动态规划电压限幅和速度限幅的幅值,实现对步进给定突变的自适应以及根据需要减小机身整体微晃动影响,最终满足载荷时序控制要求。控制实验测试及动态成像实验表明:在该航空光电载荷俯角分幅步进控制系统采用串级动态复合限幅控制后,实现了拍照段步进位置和返程段回位控制的快速性和稳态性能,拍照段位置步进控制的稳态调整时间缩短了26.56%,返程段位置回位控制的稳态调整时间缩短了18.47%。该方法满足载荷时序控制要求,提高了动态成像的横向像移补偿效果。

For a certain type of airborne optical electronic load with frame-division step imaging,the sys-tem undergoes a sudden change in the given position value and slight shaking of the camera body when the motor starts and stops.The system takes so long that the steady-state setting time exceeds the time-se-quence control requirements,which affects the image quality.This study proposes a control method called cascade dynamic hybrid amplitude limitation.On the basis of cascade control with primary and subsidiary loops,the system realizes the adaptation of the sudden jump in the given step angle value and reduces the influence of slight body shaking via dynamic programming of voltage limits and speed limits according to the photoperiodic starting signal and position-speed control signal.Finally,the system satisfies the time-sequence control requirements of an airborne optical electronic load.Experiments and dynamic imaging tests indicate that when cascade dynamic hybrid amplitude limitation control is adopted,the system realiz-es fast and steady-state performance of step position control during the imaging and back periods.The steady-state setting time of position control during the imaging and back periods is reduced by 26.56%and 18.47%,respectively.This method satisfies the time-sequence control requirements of an airborne optical electronic load and improved the rolling direction image motion compensation effect.