一种移动平台红外搜索跟踪系统的稳定控制方法

Stability Control Method for Infrared Search and Track System Based on Mobile Platform

基于移动平台的红外搜索跟踪系统已成为新一代光电搜索跟踪系统的主流趋势,小型化和轻量化是其高机动性的保证。载体运动姿态变化耦合的角速度扰动和系统内部力矩干扰将对其搭载的光电载荷视轴稳定控制带来严峻挑战,基于多轴多框架和高精度陀螺反馈控制相结合的传统视轴稳定方法已无法适用。本文针对两轴两框架移动平台红外搜索跟踪系统的光电载荷视轴稳定控制,提出了基于平方PI和Luenberger扰动观测前馈的双速度闭环同阶串级控制方法。仿真和实验表明,相对于传统的单陀螺闭环和双速度闭环稳定控制方法,该稳定控制方法有效提升了载体运动低频扰动下的视轴稳定精度。1°/1 Hz扰动下,仿真稳定精度达到2.7817μrad,实验稳定精度达到35.85μrad。1°/2 Hz扰动下,仿真稳定精度达到38.199μrad,实验稳定精度达到119.1μrad。最终,利用本文提出的稳定控制方法,两轴两框架移动平台红外搜索跟踪系统有效克服了行进间载体运动姿态变化耦合的低频角速度扰动,实现了高平稳高动态的光电载荷视轴指向控制性能。

Infrared search and tracking systems based on the mobile platform have become the mainstream trend of the new generation in optoelectronic search and track systems,and miniaturization and lightweight guarantee high mobility.The angular velocity disturbance,coupled with the carrier's motion attitude change and internal torque disturbance of the system,raises serious challenges to the optical-axis stability control of the optoelectronic load.The traditional optic-axis stability method based on a combination of multi-axis,multi-frame,and high-precision gyro feedback control,is no longer applicable.In this study,a double-velocity closed-loop same-order cascade control method is proposed based on square PI and Luenberger disturbance observation and feedforward,for the optical axis stability control of the optoelectronic load on a two-axis two-frame mobile platform infrared search and tracking system.Simulations and experiments show that compared with the conventional single-gyro closed-loop and double-velocity closed-loop stability control methods,the proposed stability control method can effectively improve the stability accuracy of the optical axis under low-frequency disturbance of the carrier’s motion.Under a disturbance of 1°/1 Hz carrier motion,the stability accuracy of the simulated optical axis improved to 2.7817 mrad and that of the actual experiment improved to 35.85 mrad.Under a disturbance of 1°/2 Hz carrier motion,the stability accuracy of the simulated optical axis improved to 38.199 mrad and that of the actual experiment improved to 119.1 mrad.Finally,using the stability control method proposed in this study,the two-axis two-frame infrared search and track system based on the mobile platform effectively overcame the low-frequency angular velocity disturbance coupled with the carrier's motion attitude change between marching,to realize a highly stable and highly dynamic optical-axis-oriented control performance of the optoelectronic load.