基于FPGA的无人机SAR天线稳定平台控制系统设计

为了满足无人机SAR成像对天线波束指向平稳性的要求,设计了一种基于FPGA的天线稳定平台控制系统。FPGA接收姿态传感器和DGPS/INS组合系统输出的姿态信息,采用数字滤波、数字PID控制实现对SAR天线指向的平稳控制。该系统具有实时性好、集成度高、小型化、低成本、低功耗等特点。通过大量实验验证,实验结果表明该系统性能良好,满足设计要求。

制导火箭弹一维稳定平台控制系统设计与分析

针对制导火箭弹在飞行过程中产生的旋转速度会对惯性测量单元产生影响从而影响命中精度,且传统的多传感器反馈系统在高速运转中可能会失效,研究了一种新型制导火箭弹一维稳定平台控制系统。系统由控制模块、驱动器、位置传感器与舵机组成。其中制导火箭弹舵机分为上舵机、横舵机与下舵机。对上舵机与横舵机选用凸极型永磁同步电机,下舵机选用绕线转子型永磁同步电机。对3个永磁同步电机分别采用改进型滑模观测器、高频脉振电压信号注入法与模型参考自适应法的无速度传感器矢量控制方法。模型仿真结果表明,所设计的一维稳定平台控制系统能够准确估算电机转子位置与转速且运行平稳、精度高、鲁棒性高,所使用的3种控制方法相互补充,控制精度更为精准,最后验证在高中低速下系统的控制性能较高,为实际制导火箭弹一维稳定平台控制系统的研制提供一种新型设计思路。

稳定平台控制系统研究

文章对稳定平台控制系统进行了研究,首先论述了红外成像跟踪系统工作原理和两通道伺服机构实现形式及系统主要性能指标的测试方法,其次介绍了控制回路构成、工作机制和具体设计方式,最后对硬件研制过程中遇到的问题进行了总结。

导向钻井稳定平台精确线性化控制

针对导向钻井稳定平台的强非线性、强扰动,致使传统控制算法难以实现高稳定性的角度输出问题,提出了一种基于反馈线性化的极点配置控制策略。首先,根据已知的平台非线性动力学方程,采用反馈线性化理论对该系统中的非线性因素进行精确线性化。其次,通过极点配置法设计期望极点,使系统动态性能达到期望效果。最后,在Matlab/Simulink环境中,搭建平台角度控制系统模型,对提出的控制算法进行仿真验证。仿真结果表明,上述控制算法相对传统PID算法有效的改善了系统角度稳定控制问题,并且在强扰动的作用下具有较强的鲁棒性,提高了系统的控制精度。

旋转导向钻井稳定平台的RBF网络滑模变结构控制

针对旋转导向钻井稳定平台存在的摩擦问题带来的不确定性,提出一种基于RBF神经网络的自适应滑模变结构控制方法,以提高稳定平台控制的精确性和抗干扰能力。使用RBF神经网络对稳定平台模型中的不确定性进行逼近,通过设计RBF网络节点的唤醒与激活阈值来减少网络规模,同时设计权值调整的自适应律,并结合滑模控制增强系统的鲁棒性。分别采用一般滑模变结构控制方法和RBF神经网络滑模变结构控制方法进行仿真实验,结果表明,RBF神经网络滑模变结构控制方法能够有效地逼近控制对象模型,有较强的鲁棒性。

Microsoft.NET在开发电网暂态稳定用户控制平台中的应用

简介了.NET框架和C#语言,与目前常用的界面开发平台及语言做了详细对比,指出其广阔的发展前景,并综述了在.NET平台下利用C#语言开发用户控制平台的优势。结合华中电网暂态稳定用户控制平台的开发经验,略述了应用.NET开发电网暂态稳定用户控制平台的优点,主要介绍了强大而方便的数据库操作功能、丰富灵活而且又简单的控件设计、完全的面向对象的语法适合于专家系统的开发、Webservice(C/S结构)的应用这4个方面。实践证明.NET框架和C#语言是界面设计者的极好选择。

弹载捷联式高精度稳定平台设计与研究

以捷联式稳定平台为研究对象,介绍了两轴稳定平台工作原理及其组成。建立稳定平台位置和速度闭环的控制系统数学模型,推理得出分段PID控制算法。为提高系统的响应速度和跟踪精度,引入基于角度和角加速度补偿的前馈控制算法。对前馈补偿的稳定平台控制算法进行了试验验证,结果表明前馈控制应用在捷联式稳定平台中可提高系统的响应速度和跟踪精度,满足了任务要求。

多路稳定平台检测系统的设计

光电设备的稳定平台通常采用闭环控制链路来实现光电设备视场内图像的稳定,目前没有专用的多模块检测设备来判断稳像的多路平台多个控制信号状态是否正常,为了解决多信号状态判断问题,笔者设计并应用了一种多路稳定平台检测系统。该系统主要用来检测稳定平台多信号的状态,通过模拟相关信号调整链路来实现对稳定平台状态的检测,并在实际应用中得到验证。

基于LSTM的稳定平台振动分析

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。

基于龙芯处理器的稳控系统装置平台及应用

安全稳定控制装置作为保障电网安全稳定运行的第二、三道防线核心二次设备,关键部件国产化程度不高,亟需国产化改造。为解决安全稳定控制装置自主化面临的主控芯片选型困难、处理器实时性稳定性不高等问题,从芯片自主化标准的研究出发,提出了一种基于龙芯处理器的安全稳定控制装置系统框架,主要包括整体平台架构设计、核心功能模件设计、实时数据交互、兼容性设计,以及基于该平台的稳控应用设计等。从硬件和软件两方面对自主可控稳控系统装置平台设计原理进行了阐述。基于该平台方案设计的安全稳定控制装置已在多座变电站挂网试运行,运行情况良好。同时,与在运装置具备良好的兼容替换性。

基于加性分解的复合控制在稳定平台中的应用

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.

对稳定控制平台的切负荷执行站与备自投功能一体化设计研究

220KV的主网系统中,既配备稳定控制平台的切负荷执行站,也装设220KV进线的备自投系统装置,这样使变电站系统的二次接线变得更加复杂,同时还增大了系统维护的工作难度。本文根据这两种装置系统的具体特点,对稳定控制平台的切负荷执行站与备自投功能一体化的新型变电站安全装置进行设计与研究。主要研究这种新型装置的标准化系统、配置方案、模块化框架等内容,对装置当中切负荷执行站的功能和备自投功能之间的配合调节问题进行分析探讨。

Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

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.

Prestiction friction compensation in direct-drive mechatronics systems

LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.

Parameter identification of inertially stabilized platforms using current command design

Accurate parameter identification is essential when designing controllers for inertially stabilized platforms （lSPs）. But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search （MCS） algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer （DOB） for application in disturbance compensation control system of an ISR Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value （PPV） of velocity error integral to 0.8 mrad which is much smaller than the value （10 mrad） obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.

Study on Rotational Stabilization in a Laser Tracking System

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.