稳定跟踪系统是雷达伺服系统研究领域的热点。稳定跟踪要求跟踪平台在受到行进间各种随机振动影响的条件下,依然保持良好的跟踪精度。对于平台稳定的条件下,跟踪精度的保持已经有很多成熟的方法,但是对于在振动干扰条件下,如何保持平台...稳定跟踪系统是雷达伺服系统研究领域的热点。稳定跟踪要求跟踪平台在受到行进间各种随机振动影响的条件下,依然保持良好的跟踪精度。对于平台稳定的条件下,跟踪精度的保持已经有很多成熟的方法,但是对于在振动干扰条件下,如何保持平台稳定也成为了一个研究难点。由于平台受到的振动是随机的,频率和幅度都会不定性变化,规律性很差,很难进行传统建模分析。再加上传感器通信延时的存在,进一步导致平台保持稳定的误差增大,最终影响到跟踪精度。本文采用长短时记忆网络算法(Long Short Term Memory Network,LSTM)对平台振动数据进行深度学习训练,实现依据振动前五个时刻的数据预测后一个时刻数据的功能。经过交叉验证,预测误差可以达到0.3mil以内。展开更多
针对高精度光电伺服稳定平台系统中摩擦和非线性干扰对跟踪精度的影响问题,采用加性分解原理将稳定平台系统分解为主系统和辅系统.主系统负责视轴的跟踪,对名义模型设计基于加速度控制的比例—微分(PD)控制器.辅系统负责视轴的稳定,并...针对高精度光电伺服稳定平台系统中摩擦和非线性干扰对跟踪精度的影响问题,采用加性分解原理将稳定平台系统分解为主系统和辅系统.主系统负责视轴的跟踪,对名义模型设计基于加速度控制的比例—微分(PD)控制器.辅系统负责视轴的稳定,并设计了非线性扩张状态观测器(nonlinear extended state observer,NESO),对等效干扰进行有效的估计和补偿;结合有限时间收敛理论和滑模控制理论设计滑模补偿器,进一步补偿未知干扰.利用李亚普诺夫理论证明系统的稳定性.Matlab仿真结果验证了本方法的有效性.展开更多
To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a sec...To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.展开更多
The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system (LTS) of the missile. In this paper, a rotational stabilizing platform (RSP) and...The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system (LTS) of the missile. In this paper, a rotational stabilizing platform (RSP) and a fuzzy-PID controller is designed to stabilize the inertial platform. This controller integrates the advantages of both fuzzy controller and classic PID controller. A comparison study is carried out to illustrate the advantages of the proposed fuzzy-PID controller over the classic PID controller. Numerical results indicate that the fuzzy-PID controller outperforms the classic one in effectively handling nonlinear disturbances and quickly stabilizing the inertial platform at the sudden change of missile roiling speed.展开更多
文摘稳定跟踪系统是雷达伺服系统研究领域的热点。稳定跟踪要求跟踪平台在受到行进间各种随机振动影响的条件下,依然保持良好的跟踪精度。对于平台稳定的条件下,跟踪精度的保持已经有很多成熟的方法,但是对于在振动干扰条件下,如何保持平台稳定也成为了一个研究难点。由于平台受到的振动是随机的,频率和幅度都会不定性变化,规律性很差,很难进行传统建模分析。再加上传感器通信延时的存在,进一步导致平台保持稳定的误差增大,最终影响到跟踪精度。本文采用长短时记忆网络算法(Long Short Term Memory Network,LSTM)对平台振动数据进行深度学习训练,实现依据振动前五个时刻的数据预测后一个时刻数据的功能。经过交叉验证,预测误差可以达到0.3mil以内。
文摘针对高精度光电伺服稳定平台系统中摩擦和非线性干扰对跟踪精度的影响问题,采用加性分解原理将稳定平台系统分解为主系统和辅系统.主系统负责视轴的跟踪,对名义模型设计基于加速度控制的比例—微分(PD)控制器.辅系统负责视轴的稳定,并设计了非线性扩张状态观测器(nonlinear extended state observer,NESO),对等效干扰进行有效的估计和补偿;结合有限时间收敛理论和滑模控制理论设计滑模补偿器,进一步补偿未知干扰.利用李亚普诺夫理论证明系统的稳定性.Matlab仿真结果验证了本方法的有效性.
基金Project (61174203) supported by the National Natural Science Foundation of China
文摘To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.
基金the China Aerospace Science and Innovation Foundation(No. 06CASC0407)
文摘The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system (LTS) of the missile. In this paper, a rotational stabilizing platform (RSP) and a fuzzy-PID controller is designed to stabilize the inertial platform. This controller integrates the advantages of both fuzzy controller and classic PID controller. A comparison study is carried out to illustrate the advantages of the proposed fuzzy-PID controller over the classic PID controller. Numerical results indicate that the fuzzy-PID controller outperforms the classic one in effectively handling nonlinear disturbances and quickly stabilizing the inertial platform at the sudden change of missile roiling speed.