轻小型惯性稳定平台位置环协同通信控制方法
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摘要
针对轻小型航空遥感系统对姿态大机动的快响应需求,设计了一种轻量型惯性稳定平台位置环协同通信与姿态超限快响应控制策略,将位置环反馈回路设计为两种可切换工作模式。伺服模式下,参考位置姿态系统的输出,通过设计二者协同通信,保证稳定平台对飞行姿态及扰动的实时隔离;编码器实时监测框架间相对角位置,超限位且载荷视轴与垂直方向误差较大时切换模式。超限快速回复模式下,以编码器值为位置环反馈量,使用大增益将平台由超限位置迅速调整到最大限定位置,并实时监测POS值,在载荷视轴位置误差较小时返回伺服模式。实验表明,该方法可靠、有效实现了稳定平台与位置传感器的高精度实时通信与控制。
According to demands of the light-small airborne remote sensing system for fast response under big-mobile gesture,a cooperative communication and attitude transfinite fast response control strategy is designed for position loop of light-small inertial stabilized platform.Two switch work modes are designed for the stabilized platform position feedback loop.In servo mode,collaborative communication between stabilized platform and position and orientation system(POS)is designed.Taken the output from POS as location tracking reference,stabilized platform can isolate flight attitude and the disturbances in real time;Monitoring relative angular position between gimbals through encoders in real time,switch to overrun quick-restored mode when the gimbal angle is overrun and the vertical angular error of line of sight(LOS)is big.In overrun quick-restored mode,taken the value of encoders as the position loop feedback,large gains are used to control platform quickly restore from transfinite position to the maximum limit position.And POS values are real-time monitored to return the servo mode when the load LOS position error value becomes small.The experimental results show that the proposed method is reliable,and the high precision realtime communication and control of the stable platform and position sensor is realized effectively.
According to demands of the light-small airborne remote sensing system for fast response under big-mobile gesture,a cooperative communication and attitude transfinite fast response control strategy is designed for position loop of light-small inertial stabilized platform.Two switch work modes are designed for the stabilized platform position feedback loop.In servo mode,collaborative communication between stabilized platform and position and orientation system(POS)is designed.Taken the output from POS as location tracking reference,stabilized platform can isolate flight attitude and the disturbances in real time;Monitoring relative angular position between gimbals through encoders in real time,switch to overrun quick-restored mode when the gimbal angle is overrun and the vertical angular error of line of sight(LOS)is big.In overrun quick-restored mode,taken the value of encoders as the position loop feedback,large gains are used to control platform quickly restore from transfinite position to the maximum limit position.And POS values are real-time monitored to return the servo mode when the load LOS position error value becomes small.The experimental results show that the proposed method is reliable,and the high precision realtime communication and control of the stable platform and position sensor is realized effectively.
引文
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[2]葛明锋,亓洪兴,王义坤.基于轻小型无人直升机平台的高光谱遥感成像系统[J].红外与激光工程,2015,44(11):3402-3407.(GE Mingfeng,QI Hongxing,WANG Yikun.Hyperspectral imaging remote sensing technology based on light weight unmanned helicopter platform[J].Infrared and Laser Engineering,2015,44(11):3402-3407.)
[3]周向阳,刘炜.航空遥感惯性稳定平台振动特性分析与隔振系统设计[J].中国惯性技术学报,2012,20(3):266-272.(ZHOU Xiangyang,LIU Wei.Vibration analysis and damping system design on an inertially stabilized platform for aerial remote sensing application[J].Journal of Chinese Inertial Technology,2012,20(3):266-272.)
[4]李树胜,钟麦英.基于PID的航空遥感三轴惯性稳定平台控制系统设计[J].吉林大学学报(工学版),2011,41(s1):275-279.(LI Shusheng,ZHONG Maiying.Design of control system based on PID stabilized platform for airborne remote sensing[J].Journal of Jilin University Engineering and Technology Edition,2011,41(s1):275-279.)
[5]杜超超,张延顺,李亚军.航空遥感惯性稳定平台速率环光纤陀螺仪误差建模与补偿[J].航空精密工程,2012,48(5):15-19.(DU Chaochao,ZHANG Yanshun,LI Yajun.Rate loop fiber optic gyroscope error modeling and compensation of inertial stabilized platform for airborne remote sensing[J].Aviation Precision Manufacturing Technology,2012,48(5):15-19.)
[6]刘占超,房建成,刘百奇.一种改进的高精度POS时间同步方法[J].仪器仪表学报,2011,32(10):2198-2204.(LIU Zhanchao,FANG Jiancheng,LIU Baiqi.Improved approach for high precision POS time synchronization[J].Chinese Journal of Scientific Instrument,2011,32(10):2198-2204.)
[7]陈霖周廷,房建成,宫晓琳.航空遥感运动补偿用POS高阶误差模型的建立与分析[J].仪器仪表学报,2012,33(11):2436-2445.(CHEN Linzhouting,FANG Jiancheng,GONG Xiaolin.Establishing and analysis of POS high-order error model for motion compensation in aerial remote sensing[J].Chinese Journal of Scientific Instrument,2012,33(11):2436-2445.)
[8]戚自辉.航空遥感三轴惯性稳定平台控制系统设计与实现[D].北京:北京航空航天大学,2010.(QI Zihui.Design and realization of the control system of threeaxes inertially stabilized platform for airborne remote sensing[D].Beijing:Beihang University,2010.)
[9]阴蕊,房建成,钟麦英.航空遥感用三轴惯性稳定平台动力学建模与仿真[J].中国惯性技术学报,2011,19(6):676-685.(YIN Rui,FANG Jiancheng,ZHONG Maiying.Dynamic modeling and simulation of inertial stabilized platform for aerial remote sensing system[J].Journal of Chinese Inertial Technology,2011,19(6):676-685.)
[10]周向阳,赵强.航空遥感三轴惯性稳定平台双速度环控制[J].中国惯性技术学报,2013,21(4):439-445.(ZHOU Xiangyang,ZHAO Qiang.Dual rateloop control method of three-axis inertially stabilized platform for aerial remote sensing application[J].Journal of Chinese Inertial Technology,2013,21(4):439-445.)
[11]张卿杰,徐友,左楠,等.手把手教你学DSP基于TMS320F28335[M].北京:北京航空航天大学出版社,2015.(ZHANG Qingjie,XU You,ZUO Nan,et al.Taught you how to learn DSP based on TMS320F28335[M].Beijing:Beihang University Press,2015.)
[12]李瑞芳,关艳玲,左建章.高精度轻小型航空遥感集成系统室外检校场建设方案研究[J].测绘科学,2010,35(6):65-66.(LI Ruifang,GUAN Yanling,ZUO Jianzhang.Scheme study of establishing outdoor calibration ground for integrated high-precise and lightsmall aerial remote sensing system[M].Science of Surveying and Mapping,2010,35(6):65-66.)