运动平台中惯性稳定控制技术研究
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摘要
相对于地基光电跟踪系统，运动载体上的光电系统会受到载体扰动的影响，因此必须建立稳定分系统，保证仪器视轴在惯性空间稳定。运动载体上的光电跟踪系统采用惯性稳定平台隔离基座扰动，实现视轴稳定以保证对机动目标的稳定成像和精确跟踪。本文通过对惯性稳定平台隔离载体扰动原理的分析，重点研究提高扰动抑制能力的控制方法。
对惯性稳定平台进行建模，分析惯性稳定平台隔离载体扰动原理，为后续控制方法的研究和实施奠定理论基础。针对惯性稳定平台模型的建立，分别采用自适应建模和机理建模。针对载体扰动传递特性，分别在时域和频域进行分析，建立载体扰动隔离方程和稳定平台对扰动的抑制传递函数。
提出采用双口内模控制进行稳定控制。利用内模原理估计扰动(包括内部扰动和外部扰动)并通过内模控制器进行扰动前馈。将反馈闭环与内模控制回路并行，构成等效反馈+前馈控制效果。为了验证双口内模控制的稳定性能，先后搭建了两个惯性稳定实验平台进行实验分析。介绍了基于RTW的实验原理，并详细介绍了其实现过程。为了减小速率陀螺噪声的影响，分析对比了卡尔曼滤波器、H∞滤波器和低通滤波器的滤波效果。仿真和实验结果都表明，无论是针对内部摩擦在换向时带来的尖峰误差还是载体扰动，双口内模控制在中低频的抑制效果都优于PI反馈控制，在0.1Hz处扰动抑制比提高了26dB。
由于采用内模原理估计扰动时，模型的准确度直接决定了扰动估计精度，因此基于双口内模控制的思想设计出复合内模控制。在内模控制回路内添加一负反馈闭环，将内环闭环特性作为内模控制的等效被控对象，通过负反馈内环提高内模控制等效被控对象的模型精度，同时内环、外环对扰动进行二次抑制，大大提高扰动抑制能力。实验结果显示，在整个抑制带宽内，复合内模控制对扰动的抑制能力都优于反馈控制，PI控制在3Hz处的扰动抑制比为39dB，复合内模控制在3Hz处的扰动抑制比达72dB，扰动抑制能力提高了33dB。
在复合内模控制基础上，对其外环内模控制器进行在线自适应，得到复合自适应逆控制。详细分析了采用不同信号作为调节自适应滤波器权系数的误差函数对系统性能的影响。当采用系统输出作为误差函数时，保证滤波器收敛的条件是模型与被控对象相关，且模型准确度越高收敛速度越快，但是模型精度并不影响滤波器收敛稳态值。复合自适应逆控制完全继承了复合内模控制的优点，通过内、外环对扰动进行二次抑制，且采用反馈闭环作为内环，能够提高外环等效被控对象模型精度，从而提高滤波器收敛速度。由于采用系统输出作为调节自适应滤波器权系数的误差函数，因此即使被控对象特性和扰动特性发生变化，当滤波器收敛到最优解时，系统输出达到某种准则下的最小值。
Compared with ground based Electro-Optical tracking system, the design ofElectro-Optical tracking system based on moving bed is more and more difficult due toplatform moving as well as vibration. So a LOS stabilization subsystem must bedesigned to make sure the LOS stable in inertial space. In order to make sure the LOSstable to improve the tracking precision, Gyro stabilization platform is used to insulatethe effect of platform moving and vibration. The stabilizing principle of inertialstabilization platform is analyzed and this dissertation emphasizes on control methodsdesign to enhance disturbance rejection ability.
Firstly, the inertial stabilized platform and the principle of inertial stabilizedplatform isolation carrier disturbances are analyzed. These works establish thetheoretical foundation for subsequent reach and implementation of control method. Inorder to modeling the inertial platform, adaptive modeling method and mechanismmodeling method are introduced respectively. The former do not need to know a priorknowledge of the object, it belongs to the black-box modeling and the later belongs toaccurate modeling. The carrier disturbance isolation equation and the transfer functionof inertial stabilized platform rejection carrier disturbance are established by analyzingthe transfer characteristics of disturbances in time domain and in frequency domain.
The two-port Internal Model Control is proposed for stability control. Disturbances(including internal disturbance and external disturbance) are estimated based on InternalModel principle and feedforward them by internal model controller. The feedforwardloop is in parallel with the feedback loop and this has the equivalent effect of feedback+feedforward. In order to verify the ability of two-port Internal Model Control method,two inertial stabilization platform experiments system are set up. The experimentprinciple based on RTW is introduced and described its implementation process in detail.In order to reduce the effect of gyro noise, the Kalman filter, H∞filter and low pass filter are analyzed and compared. Simulation and experiment results both show that thetwo-port Internal Model Control effectively for carrier disturbance and the errorproduced by friction. Simulation and experiment results also show that the two-portInternal Model Control has better disturbance rejection at low and mid frequency thanPI method. It improves more than26dB disturbance rejection ratio at0.1Hz.
Because of using the internal model principle to estimate the disturbance, theaccuracy of the model determines the disturbance estimation precision. So thecomposite internal model control is designed to overcome the shortcoming. A feedbackloop is added to the inner of the IMC loop and uses the feedback loop transfer functionas the equivalent control object. The inner loop decreases the model error and improvesdisturbance rejection ability. Experimental results show that, the composite internalmodel control achieves better disturbance rejection than feedback control in allsuppression bandwidth. The PI method achieve just39dB disturbance rejection ratio at3Hz but the composite internal achieve72dB, stable capacity increased by33dB.
The composite adaptive inverse control is designed based on composite internalmodel control by adaptive tuning its external loop controller. The performance ofcontrol system by adopt different signal as error function to adjust adaptive filtercoefficients is analyzed in detail. When using the system output as error function, themodel must be associated with the control object to ensure the adaptive filterconvergence. The more accuracy of the model the faster convergence achieves. But theaccuracy of model does not affect the steady-state values of adaptive filter. Due to theadoption of the system output as the error function of adaptive filter, the control systemcan achieve good disturbance rejection when the adaptive filter converges to its optimalsolution even the characteristics of the controlled object and the disturbancecharacteristics changes.
对惯性稳定平台进行建模，分析惯性稳定平台隔离载体扰动原理，为后续控制方法的研究和实施奠定理论基础。针对惯性稳定平台模型的建立，分别采用自适应建模和机理建模。针对载体扰动传递特性，分别在时域和频域进行分析，建立载体扰动隔离方程和稳定平台对扰动的抑制传递函数。
提出采用双口内模控制进行稳定控制。利用内模原理估计扰动(包括内部扰动和外部扰动)并通过内模控制器进行扰动前馈。将反馈闭环与内模控制回路并行，构成等效反馈+前馈控制效果。为了验证双口内模控制的稳定性能，先后搭建了两个惯性稳定实验平台进行实验分析。介绍了基于RTW的实验原理，并详细介绍了其实现过程。为了减小速率陀螺噪声的影响，分析对比了卡尔曼滤波器、H∞滤波器和低通滤波器的滤波效果。仿真和实验结果都表明，无论是针对内部摩擦在换向时带来的尖峰误差还是载体扰动，双口内模控制在中低频的抑制效果都优于PI反馈控制，在0.1Hz处扰动抑制比提高了26dB。
由于采用内模原理估计扰动时，模型的准确度直接决定了扰动估计精度，因此基于双口内模控制的思想设计出复合内模控制。在内模控制回路内添加一负反馈闭环，将内环闭环特性作为内模控制的等效被控对象，通过负反馈内环提高内模控制等效被控对象的模型精度，同时内环、外环对扰动进行二次抑制，大大提高扰动抑制能力。实验结果显示，在整个抑制带宽内，复合内模控制对扰动的抑制能力都优于反馈控制，PI控制在3Hz处的扰动抑制比为39dB，复合内模控制在3Hz处的扰动抑制比达72dB，扰动抑制能力提高了33dB。
在复合内模控制基础上，对其外环内模控制器进行在线自适应，得到复合自适应逆控制。详细分析了采用不同信号作为调节自适应滤波器权系数的误差函数对系统性能的影响。当采用系统输出作为误差函数时，保证滤波器收敛的条件是模型与被控对象相关，且模型准确度越高收敛速度越快，但是模型精度并不影响滤波器收敛稳态值。复合自适应逆控制完全继承了复合内模控制的优点，通过内、外环对扰动进行二次抑制，且采用反馈闭环作为内环，能够提高外环等效被控对象模型精度，从而提高滤波器收敛速度。由于采用系统输出作为调节自适应滤波器权系数的误差函数，因此即使被控对象特性和扰动特性发生变化，当滤波器收敛到最优解时，系统输出达到某种准则下的最小值。
Compared with ground based Electro-Optical tracking system, the design ofElectro-Optical tracking system based on moving bed is more and more difficult due toplatform moving as well as vibration. So a LOS stabilization subsystem must bedesigned to make sure the LOS stable in inertial space. In order to make sure the LOSstable to improve the tracking precision, Gyro stabilization platform is used to insulatethe effect of platform moving and vibration. The stabilizing principle of inertialstabilization platform is analyzed and this dissertation emphasizes on control methodsdesign to enhance disturbance rejection ability.
Firstly, the inertial stabilized platform and the principle of inertial stabilizedplatform isolation carrier disturbances are analyzed. These works establish thetheoretical foundation for subsequent reach and implementation of control method. Inorder to modeling the inertial platform, adaptive modeling method and mechanismmodeling method are introduced respectively. The former do not need to know a priorknowledge of the object, it belongs to the black-box modeling and the later belongs toaccurate modeling. The carrier disturbance isolation equation and the transfer functionof inertial stabilized platform rejection carrier disturbance are established by analyzingthe transfer characteristics of disturbances in time domain and in frequency domain.
The two-port Internal Model Control is proposed for stability control. Disturbances(including internal disturbance and external disturbance) are estimated based on InternalModel principle and feedforward them by internal model controller. The feedforwardloop is in parallel with the feedback loop and this has the equivalent effect of feedback+feedforward. In order to verify the ability of two-port Internal Model Control method,two inertial stabilization platform experiments system are set up. The experimentprinciple based on RTW is introduced and described its implementation process in detail.In order to reduce the effect of gyro noise, the Kalman filter, H∞filter and low pass filter are analyzed and compared. Simulation and experiment results both show that thetwo-port Internal Model Control effectively for carrier disturbance and the errorproduced by friction. Simulation and experiment results also show that the two-portInternal Model Control has better disturbance rejection at low and mid frequency thanPI method. It improves more than26dB disturbance rejection ratio at0.1Hz.
Because of using the internal model principle to estimate the disturbance, theaccuracy of the model determines the disturbance estimation precision. So thecomposite internal model control is designed to overcome the shortcoming. A feedbackloop is added to the inner of the IMC loop and uses the feedback loop transfer functionas the equivalent control object. The inner loop decreases the model error and improvesdisturbance rejection ability. Experimental results show that, the composite internalmodel control achieves better disturbance rejection than feedback control in allsuppression bandwidth. The PI method achieve just39dB disturbance rejection ratio at3Hz but the composite internal achieve72dB, stable capacity increased by33dB.
The composite adaptive inverse control is designed based on composite internalmodel control by adaptive tuning its external loop controller. The performance ofcontrol system by adopt different signal as error function to adjust adaptive filtercoefficients is analyzed in detail. When using the system output as error function, themodel must be associated with the control object to ensure the adaptive filterconvergence. The more accuracy of the model the faster convergence achieves. But theaccuracy of model does not affect the steady-state values of adaptive filter. Due to theadoption of the system output as the error function of adaptive filter, the control systemcan achieve good disturbance rejection when the adaptive filter converges to its optimalsolution even the characteristics of the controlled object and the disturbancecharacteristics changes.
引文
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