干扰观测器和先进控制在航空相机位角系统中的应用研究
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摘要
航空相机具有机动灵活、时效性高等优点，是航空侦察的主要载荷之一。本文是XX-CCD航空相机研制项目研究内容之一，研究并解决该相机位角反射镜在低速、高精度像移补偿环节的干扰抑制及快速、高精度定位模式下的Anti-Windup等技术难题，对于提高该相机分辨率、纵向定位精度及缩短相机工作时序周期具有重要的研究意义。
本文围绕着XX-CCD相机位角控制系统的性能指标和技术难点开展以下几方面研究工作。
1.论述了本课题研究背景、课题来源及研究意义，阐述了学位论文涉及到的关键技术领域的国内外研究现状——航空相机的研究现状、伺服控制系统研究现状及干扰观测与抑制技术的研究现状，重点论述了控制系统的干扰观测与抑制技术的研究现状；
2.介绍XX-CCD相机位角控制系统的系统组成、工作方式、指标分析及关键元件参数等内容。对影响位角控制系统性能的若干因素进行了分析——摩擦扰动、力矩波动、传感器性能以及载机条件等的影响。对位角控制系统的各个环节采用理论机理建模方式进行了数学建模，通过系统实际频率特性测试实验，获得了系统开环频率特性曲线，结合前面典型数学模型，对模型进行简化处理，获得系统广义开环数学模型；
3.研究了基于摩擦模型的摩擦前馈对摩擦扰动进行补偿的方法，为了实现摩擦扰动补偿，对系统数学模型进行了简化，提出基于二进制编码的遗传算法对摩擦模型参数进行辨识方法，根据系统力矩综合点处力矩平衡原理建立了摩擦前馈补偿通道的调节器参数与辨识出来的摩擦模型参数的等价关系。针对外部力矩干扰设计了采用基于名义模型逆和低通滤波相结合的干扰观测器将外部力矩干扰观测出来，并把观测值引入控制端，即可实现外部力矩干扰的补偿，并设计带干扰观测器的像移补偿控制，主控算法采用了基于改进的离散指数趋近律的自适应滑模控制。最后，提出了基于干扰观测器反馈和摩擦模型前馈的复合控制方法，该方法将前向像移残差减小了三分之二左右，可以对干扰进行有效抑制；
4.分析了位角位置控制系统饱和非线性导致的“Windup”现象并采用两种思路和方法实现Anti-Windup。从Windup事后补偿角度，提出了基于Anti-Windup变结构的串级主副双回路PID位置控制方法。在速度内环使用基于Anti-Windup变结构的自适应PID控制，位置外环采用Windup积分系数自适应微调的PID控制。为了弥补事后补偿的缺点，位置外环采用变速积分实现积分抗饱和措施。从Windup事前预防角度：提出了基于模糊自适应修正和遗传算法优化整定的PID位置控制方法。位置控制结构依然采用串级主副双回路的控制方法，位置外环为主回路，速度内环为副回路。位置外环控制采用遗传算法优化整定及模糊控制修正的PID控制算法，PID基本参数由遗传算法优化整定，并且在遗传算法最小目标函数中加入超调惩戒环节，模糊控制在PID基本参数邻域内对PID基本参数进行模糊修正，模糊控制采用非线性量化及中心隶属度稠密的二维模糊控制结构，在加快系统动态响应的前提下，尽可能快速消除误差，有利于改善系统性能。与常规PID算法比较，上述两种方法都具有良好的控制效果，调整时间缩短了约50%，稳态精度提高约60%，这些方法的应用有效提高了位置控制系统的快速性、准确性和鲁棒性；
5.以XX-CCD相机为实验平台开展了各项实验，包括扰动观测器有效性检验实验、摩擦前馈控制验证实验、像移速度补偿控制实验、位置控制实验、实验室动态成像和飞行试验等。采用仿真实验对扰动观测器效果进行了验证实验，通过合理设置名义模型和低通滤波器，可对力矩干扰进行比较有效地抑制。开展摩擦前馈控制实验，验证了摩擦前馈控制在低速像移补偿环节的摩擦扰动抑制作用。像移补偿像移速度补偿控制实验采用常规非主动加扰实验和主动加扰实验，验证像移速度补偿控制算法有效性及抗干扰能力。位置控制实验分别采用固定参数PID控制方法、Anti-windup变结构自适应PID位置控制方法、基于模糊自适应修正和遗传算法整定的PID位置控制方法进行定位控制实验，分别从最大超调量、上升时间、调整时间和稳态误差方面进行对比分析。开展了实验室动态成像实验，在实验室模拟速高比分别为0.00691/s、0.01231/s和0.0231/s的条件进行了动态成像实验，动态成像分辨率均达到51lp/mm，优于实验室动态成像指标45lp/mm的要求。
6.通过飞行试验相机获得了充足有效的飞行图像样本，相机达到飞行试验各项指标要求，图像对比度适中、影纹层次丰富、能清晰分辨铁路枕木、公路标线、车型、球场标线等细节，充分验证了位角控制系统性能。
本论文研究工作表明，论文提出的研究方法有效地解决了该相机位角反射镜在快速、高精度定位模式下的Anti-Windup问题及低速、高精度像移补偿环节干扰抑制等技术问题，对于提高该相机成像质量、位置定位精度及缩短相机拍照周期具有重要的研究意义。
As one of the main loads of aerial reconnaissance, aerial camera has the advantagesof flexibility, high efficiency and so on. This thesis is one of the research elements ofthe XX-CCD camera research project. This thesis researches and solves thedisturbance suppression problem in image motion compensation control moderequiring low speed and high-precision and the Anti-Windup problem of the cameraposition-angle mirror in position control mode requiring fast speed. The main workhad important significance in improving the resolving power, lengthways positionprecision and shortening camera work cycle.
Around the performance index technical difficulties of the XX-CCD cameraposition angle control system, the main work and contributions are given as followsin this thesis.
1. This thesis discussed the research background, topics sources and researchsignificance. The domestic and foreign research actuality in fields of some relativeresearch involved aerial camera, servo control systems, disturbance observer andsuppression technology. Moreover, the research status of the disturbance observerand suppression technology of control systems was focused on.
2. Introduction on system configuration, work mode, index analysis and criticalcomponent parameters were given. A number of factors, affecting position-angle control system performance index, such as friction disturbance, torque fluctuations,sensor performance and carrier aircraft conditions, were analyzed. Mathematicalmodeling for elements of position-angle control systems were completed by usingtheoretical mechanism modeling method. Through the frequency characteristicstesting experiment on the open loop system and combining with the previous typicalmathematical model, the mathematical model of generalized open loop system wasobtained after the model was simplified processed.
3. Friction disturbance compensation method based on the friction feedforwardwas studied. In order to achieve friction disturbance compensation, a simplifiedmathematical model of systems was implemented. A friction model parametersidentification approach based on the binary-coded genetic algorithm was provided.According to balance principle in the system torque combiner, the parameterequivalence relation between the friction feedforward compensation channelregulator and the identification friction model was established. Aiming at externaltorque disturbance, the disturbance observer based on a combination of normalmodel inverse and low-pass filter was adopted. If the observation was inputted intocontrol terminal, the compensation of external torque disturbance could be achieved.Image motion compensation control based on disturbance observer and adaptivesliding mode control using improved discrete exponential reaching law was designed.Finally, compound control method based on the disturbance observer feedback andfriction model feedforward was proposed. This compound control method caneffectively restrain disturbances and make forward image motion residuals reducedabout two-thirds.
4."Windup" phenomenon of the position angle position control system caused bythe saturation nonlinearities was analyzed. The two ideas and methods of theAnti-Windup were proposed as follows. From the view point of compensationmeasures for occurred windup, primary and secondary dual loop cascade PIDposition control based on Anti-Windup variable structure was proposed. AdaptivePID control based on Anti-Windup variable structure was used in secondary speedloop. The PID with adaptive slight adjustments of Windup integral coefficient was used in the primary position loop. To overcome the lagging shortcomings ofcompensation measures for Anti-Windup, the variable integral PID as the integralAnti-Windup measures in the position control loop. From the view point ofpreventive measures for windup, position control scheme based on PID with fuzzyadaptive correction and optimized and tuned basic parameters by genetic algorithmwas proposed. Position control scheme still used primary and secondary loopcascade control. Position outer loop is the primary loop and speed inner loop issecondary loop. Position outer loop adopted the method based on fuzzy adaptivecorrection and optimized and tuned basic parameters by genetic algorithm. Thegenetic algorithm minimum objective function had overshoot punishment. Thesebasic parameters of PID were fuzzy corrected within the neighborhood of basicparameters by fuzzy control. Fuzzy control used2D fuzzy PID control scheme withthe nonlinear quantification and center dense membership function. Under thepremise of accelerating error elimination of the system dynamic response as much aspossible, this method helped to improve the system performance. Compared withconventional PID algorithm, these two methods proposed in this thesis have goodcontrol effect, the settling time reduced by about50%and steady-state accuracyincreased by about60%. The application of these methods effectively improve therapidity，accuracy and robustness of position control systems.
5. On the XX-CCD camera experimental platform, various experiments includingdisturbance observer validation experiment, friction feedforward control validationexperiment, image motion speed compensation control experiment, position controlexperiment, laboratory dynamic imaging experiments and flight test experimentwere carried out. The effectiveness of disturbance observer was verified by usingsimulation experiment. The experimental results showed that disturbance observercan be more effectively to torque interference suppression by reasonable setting thenominal model and low pass filter. Friction feedforward control experiment wasconducted. The friction disturbance suppression from the friction feedforwardcontrol was verified in the low speed image motion compensation. Image motioncompensation experiment including the routine experiment without taking the initiative disturbance and the experiment with active disturbance verified the validityand capacity of resisting disturbance of image motion compensation control. Threemethod including fixed parameter PID control scheme, Anti-windup variablestructure adaptive PID position control method and PID control method based onfuzzy adaptive correction and genetic algorithm was used to do position controlexperiments respectively. From the maximum overshoot error, rise time, settlingtime and steady-state error，the performance of three methods were analyzed andcompared. Laboratory dynamic imaging experiment was done under the conditionsof flight speed-high ratio parameter respectively equal to0.00691/s,0.01231/s and0.02301/s. Dynamic imaging resolution reach up to51lp/mm superior to therequirements of laboratory dynamic imaging performance index (45lp/mm).
6. Through flight test, camera obtained the effective enough flight image samplesand met all the requirements of flight test performance index. Image has anappropriate contrast, detailed shadow, rich graduation and clearly distinguisheddetails of railway sleepers, road markings, vehicle type, lines of stadiums and so on.The performance of position-angle control systems was fully verified.
The main work and contributions in this thesis show that this research methodseffectively solved the camera position-angle mirror Anti-Windup problem in theposition control mode requiring fast speed and high-precision and disturbancesuppression problems in the image motion compensation control mode requiring lowspeed and high-precision. The main work had important significance in improvingthe camera imaging quality, the precision of position control and shortening theimaging cycle of camera.
本文围绕着XX-CCD相机位角控制系统的性能指标和技术难点开展以下几方面研究工作。
1.论述了本课题研究背景、课题来源及研究意义，阐述了学位论文涉及到的关键技术领域的国内外研究现状——航空相机的研究现状、伺服控制系统研究现状及干扰观测与抑制技术的研究现状，重点论述了控制系统的干扰观测与抑制技术的研究现状；
2.介绍XX-CCD相机位角控制系统的系统组成、工作方式、指标分析及关键元件参数等内容。对影响位角控制系统性能的若干因素进行了分析——摩擦扰动、力矩波动、传感器性能以及载机条件等的影响。对位角控制系统的各个环节采用理论机理建模方式进行了数学建模，通过系统实际频率特性测试实验，获得了系统开环频率特性曲线，结合前面典型数学模型，对模型进行简化处理，获得系统广义开环数学模型；
3.研究了基于摩擦模型的摩擦前馈对摩擦扰动进行补偿的方法，为了实现摩擦扰动补偿，对系统数学模型进行了简化，提出基于二进制编码的遗传算法对摩擦模型参数进行辨识方法，根据系统力矩综合点处力矩平衡原理建立了摩擦前馈补偿通道的调节器参数与辨识出来的摩擦模型参数的等价关系。针对外部力矩干扰设计了采用基于名义模型逆和低通滤波相结合的干扰观测器将外部力矩干扰观测出来，并把观测值引入控制端，即可实现外部力矩干扰的补偿，并设计带干扰观测器的像移补偿控制，主控算法采用了基于改进的离散指数趋近律的自适应滑模控制。最后，提出了基于干扰观测器反馈和摩擦模型前馈的复合控制方法，该方法将前向像移残差减小了三分之二左右，可以对干扰进行有效抑制；
4.分析了位角位置控制系统饱和非线性导致的“Windup”现象并采用两种思路和方法实现Anti-Windup。从Windup事后补偿角度，提出了基于Anti-Windup变结构的串级主副双回路PID位置控制方法。在速度内环使用基于Anti-Windup变结构的自适应PID控制，位置外环采用Windup积分系数自适应微调的PID控制。为了弥补事后补偿的缺点，位置外环采用变速积分实现积分抗饱和措施。从Windup事前预防角度：提出了基于模糊自适应修正和遗传算法优化整定的PID位置控制方法。位置控制结构依然采用串级主副双回路的控制方法，位置外环为主回路，速度内环为副回路。位置外环控制采用遗传算法优化整定及模糊控制修正的PID控制算法，PID基本参数由遗传算法优化整定，并且在遗传算法最小目标函数中加入超调惩戒环节，模糊控制在PID基本参数邻域内对PID基本参数进行模糊修正，模糊控制采用非线性量化及中心隶属度稠密的二维模糊控制结构，在加快系统动态响应的前提下，尽可能快速消除误差，有利于改善系统性能。与常规PID算法比较，上述两种方法都具有良好的控制效果，调整时间缩短了约50%，稳态精度提高约60%，这些方法的应用有效提高了位置控制系统的快速性、准确性和鲁棒性；
5.以XX-CCD相机为实验平台开展了各项实验，包括扰动观测器有效性检验实验、摩擦前馈控制验证实验、像移速度补偿控制实验、位置控制实验、实验室动态成像和飞行试验等。采用仿真实验对扰动观测器效果进行了验证实验，通过合理设置名义模型和低通滤波器，可对力矩干扰进行比较有效地抑制。开展摩擦前馈控制实验，验证了摩擦前馈控制在低速像移补偿环节的摩擦扰动抑制作用。像移补偿像移速度补偿控制实验采用常规非主动加扰实验和主动加扰实验，验证像移速度补偿控制算法有效性及抗干扰能力。位置控制实验分别采用固定参数PID控制方法、Anti-windup变结构自适应PID位置控制方法、基于模糊自适应修正和遗传算法整定的PID位置控制方法进行定位控制实验，分别从最大超调量、上升时间、调整时间和稳态误差方面进行对比分析。开展了实验室动态成像实验，在实验室模拟速高比分别为0.00691/s、0.01231/s和0.0231/s的条件进行了动态成像实验，动态成像分辨率均达到51lp/mm，优于实验室动态成像指标45lp/mm的要求。
6.通过飞行试验相机获得了充足有效的飞行图像样本，相机达到飞行试验各项指标要求，图像对比度适中、影纹层次丰富、能清晰分辨铁路枕木、公路标线、车型、球场标线等细节，充分验证了位角控制系统性能。
本论文研究工作表明，论文提出的研究方法有效地解决了该相机位角反射镜在快速、高精度定位模式下的Anti-Windup问题及低速、高精度像移补偿环节干扰抑制等技术问题，对于提高该相机成像质量、位置定位精度及缩短相机拍照周期具有重要的研究意义。
As one of the main loads of aerial reconnaissance, aerial camera has the advantagesof flexibility, high efficiency and so on. This thesis is one of the research elements ofthe XX-CCD camera research project. This thesis researches and solves thedisturbance suppression problem in image motion compensation control moderequiring low speed and high-precision and the Anti-Windup problem of the cameraposition-angle mirror in position control mode requiring fast speed. The main workhad important significance in improving the resolving power, lengthways positionprecision and shortening camera work cycle.
Around the performance index technical difficulties of the XX-CCD cameraposition angle control system, the main work and contributions are given as followsin this thesis.
1. This thesis discussed the research background, topics sources and researchsignificance. The domestic and foreign research actuality in fields of some relativeresearch involved aerial camera, servo control systems, disturbance observer andsuppression technology. Moreover, the research status of the disturbance observerand suppression technology of control systems was focused on.
2. Introduction on system configuration, work mode, index analysis and criticalcomponent parameters were given. A number of factors, affecting position-angle control system performance index, such as friction disturbance, torque fluctuations,sensor performance and carrier aircraft conditions, were analyzed. Mathematicalmodeling for elements of position-angle control systems were completed by usingtheoretical mechanism modeling method. Through the frequency characteristicstesting experiment on the open loop system and combining with the previous typicalmathematical model, the mathematical model of generalized open loop system wasobtained after the model was simplified processed.
3. Friction disturbance compensation method based on the friction feedforwardwas studied. In order to achieve friction disturbance compensation, a simplifiedmathematical model of systems was implemented. A friction model parametersidentification approach based on the binary-coded genetic algorithm was provided.According to balance principle in the system torque combiner, the parameterequivalence relation between the friction feedforward compensation channelregulator and the identification friction model was established. Aiming at externaltorque disturbance, the disturbance observer based on a combination of normalmodel inverse and low-pass filter was adopted. If the observation was inputted intocontrol terminal, the compensation of external torque disturbance could be achieved.Image motion compensation control based on disturbance observer and adaptivesliding mode control using improved discrete exponential reaching law was designed.Finally, compound control method based on the disturbance observer feedback andfriction model feedforward was proposed. This compound control method caneffectively restrain disturbances and make forward image motion residuals reducedabout two-thirds.
4."Windup" phenomenon of the position angle position control system caused bythe saturation nonlinearities was analyzed. The two ideas and methods of theAnti-Windup were proposed as follows. From the view point of compensationmeasures for occurred windup, primary and secondary dual loop cascade PIDposition control based on Anti-Windup variable structure was proposed. AdaptivePID control based on Anti-Windup variable structure was used in secondary speedloop. The PID with adaptive slight adjustments of Windup integral coefficient was used in the primary position loop. To overcome the lagging shortcomings ofcompensation measures for Anti-Windup, the variable integral PID as the integralAnti-Windup measures in the position control loop. From the view point ofpreventive measures for windup, position control scheme based on PID with fuzzyadaptive correction and optimized and tuned basic parameters by genetic algorithmwas proposed. Position control scheme still used primary and secondary loopcascade control. Position outer loop is the primary loop and speed inner loop issecondary loop. Position outer loop adopted the method based on fuzzy adaptivecorrection and optimized and tuned basic parameters by genetic algorithm. Thegenetic algorithm minimum objective function had overshoot punishment. Thesebasic parameters of PID were fuzzy corrected within the neighborhood of basicparameters by fuzzy control. Fuzzy control used2D fuzzy PID control scheme withthe nonlinear quantification and center dense membership function. Under thepremise of accelerating error elimination of the system dynamic response as much aspossible, this method helped to improve the system performance. Compared withconventional PID algorithm, these two methods proposed in this thesis have goodcontrol effect, the settling time reduced by about50%and steady-state accuracyincreased by about60%. The application of these methods effectively improve therapidity，accuracy and robustness of position control systems.
5. On the XX-CCD camera experimental platform, various experiments includingdisturbance observer validation experiment, friction feedforward control validationexperiment, image motion speed compensation control experiment, position controlexperiment, laboratory dynamic imaging experiments and flight test experimentwere carried out. The effectiveness of disturbance observer was verified by usingsimulation experiment. The experimental results showed that disturbance observercan be more effectively to torque interference suppression by reasonable setting thenominal model and low pass filter. Friction feedforward control experiment wasconducted. The friction disturbance suppression from the friction feedforwardcontrol was verified in the low speed image motion compensation. Image motioncompensation experiment including the routine experiment without taking the initiative disturbance and the experiment with active disturbance verified the validityand capacity of resisting disturbance of image motion compensation control. Threemethod including fixed parameter PID control scheme, Anti-windup variablestructure adaptive PID position control method and PID control method based onfuzzy adaptive correction and genetic algorithm was used to do position controlexperiments respectively. From the maximum overshoot error, rise time, settlingtime and steady-state error，the performance of three methods were analyzed andcompared. Laboratory dynamic imaging experiment was done under the conditionsof flight speed-high ratio parameter respectively equal to0.00691/s,0.01231/s and0.02301/s. Dynamic imaging resolution reach up to51lp/mm superior to therequirements of laboratory dynamic imaging performance index (45lp/mm).
6. Through flight test, camera obtained the effective enough flight image samplesand met all the requirements of flight test performance index. Image has anappropriate contrast, detailed shadow, rich graduation and clearly distinguisheddetails of railway sleepers, road markings, vehicle type, lines of stadiums and so on.The performance of position-angle control systems was fully verified.
The main work and contributions in this thesis show that this research methodseffectively solved the camera position-angle mirror Anti-Windup problem in theposition control mode requiring fast speed and high-precision and disturbancesuppression problems in the image motion compensation control mode requiring lowspeed and high-precision. The main work had important significance in improvingthe camera imaging quality, the precision of position control and shortening theimaging cycle of camera.
引文
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