机载光电稳定平台的分数阶控制研究
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摘要
机载光电稳定平台是机载光电侦察任务设备的重要组成部分，在敌情侦察、目标定位、精确打击等方面得到了广泛的应用。其主要作用是敏感并克服载机的姿态变化、发动机的振动、气流的变化以及稳定平台本身的摩擦力矩、线扰力矩、质量不平衡力矩和传感器噪声等扰动，保证光轴的稳定指向。除了光学设计和机械结构的影响，机载光电稳定平台的控制技术是提高光电侦察任务设备定位精度和打击能力的关键技术之一。
从提高光电稳定平台的控制性能和控制精度出发，本文以数学建模为基础，理论分析为依据，实验验证为目的，对光电稳定平台的控制技术进行较为深入地研究。全文的主要研究内容及成果如下：
①详细分析了机载光电稳定平台的线性和非线性特性，并建立了稳定平台的分数阶数学模型。从稳定平台的电流环设计和建模、传感器和机械谐振建模以及非线性特性建模三个方面讨论了传统数学建模的过程。详细介绍了电流环的设计和建模过程，提出了两种比较实用的建模方法。着重考虑了惯性传感器陀螺的Allan方差建模，从量化误差、角度随机游走、角速率随机游走和零偏稳定性等几个方面建立陀螺的随机误差模型。然后，建立系统的摩擦力、不平衡力矩和导线扰动力矩的非线性模型。最后，通过上述建模和分析得出结论，建立稳定平台的传统数学模型不仅建模过程复杂而且不能精确描述实际系统。采用频域辨识的方法建立系统的分数阶模型，能够在考虑非线性特性的情况下以更简洁的方式描述实际系统。
②提出了一种具有普适性的基于稳定裕度和剪切频率的分数阶PIλ控制器的设计方法，解决了以往靠提高开环增益或增加积分环节来提高控制精度而带来的稳定性变差的问题。并采用所设计的分数阶PIλ控制器和整数阶PI控制器分别进行了仿真和实验研究。阶跃响应对比实验、速度扰动隔离对比实验、力矩扰动隔离对比实验和稳定精度对比实验的结果表明，采用分数阶PIλ控制器的系统具有阶跃响应超调量小、抗扰能力强的优点，在幅值为3.14o/s，频率为0.5Hz的速度扰动下，速度扰动隔离度提高了约38%，稳定精度提高了约40%。
③提出了简化的伪微分反馈控制策略及其分数阶形式的控制策略，并应用于机载光电稳定平台中。采用两种控制器和PI控制器在抗力矩扰动、隔离载机角速率扰动和控制对象模型摄动等方面进行了仿真对比实验。实验结果表明，在相同的闭环带宽情况下，采用两种控制器的机载光电稳定平台的阶跃响应具有更小的超调，更短的上升和调节时间；在陀螺噪声存在的情况下，能够有效地抑制力矩和载机的姿态扰动对系统性能的影响；与整数阶伪微分反馈控制相比，分数阶伪微分反馈对被控制对象的模型摄动具有更强的鲁棒性。
本文的研究工作为分数阶控制系统建模、分数阶PI λ Dμ控制和分数阶伪微分反馈控制在机载光电稳定平台中的应用提供了理论支撑和技术参考，相关领域的研究和应用有一定的借鉴和参考意义。
Airborne photoelectric stabilized platform, as an important part of the airbornephotoelectric reconnaissance mission equipment, has a wide range of applications inthe enemy situation reconnaissance, target location, precision attack and so on. Itschief responsibility is to ensure the stability of optical axis by measuring andovercoming the attitude changes of carrier aircraft, the vibration of the engine, theairflow changes as well as itself frictional torque, wire disturbance torque, massimbalance torque, sensor noise disturbance and so on. In addition to the optical designand mechanical structure of the airborne photoelectric stabilized platform, the controltechnology is one of the key technologies of the photoelectric reconnaissancemissions to improve the location accuracy and capability of precision attack.
This thesis took a more in-depth study of the photoelectric gyro stabilizedplatform control technology in order to improve the control performance andprecision, base on the mathematical modeling, theoretical analysis and experimentalvalidation. The full text of the main content and the results are as follows:①The thesis established the fractional order mathematical model of airbornephotoelectric stabilized platform after analyzing the linear and nonlinearcharacteristics. The modeling process includes three aspects: the current loop designand modeling, sensors and mechanical resonance modeling and nonlinearcharacteristics modeling. The thesis introduced the design and modeling of currentloop in detail. Two practical modeling method of current loop was proposed. Itfocused on the Allan variance modeling of inertia sensor gyro, considering thequantization error, random walk angle, angular rate random walk and bias stability. Then, the thesis established the friction nonlinear model, the mass imbalance modeland the wire disturbance torque model of the system. It pointed out the traditionalmathematic model that is composed with linear and nonlinear characteristics is verycomplex and can not describe the actual system. The fractional order model ofairborne photoelectric stabilized platform was established by using frequencyidentification method. The model can describe the actual system in compact form.②A universal fractional order PIλcontroller design method wad proposed basedon stability margin and cutting frequency. It can solve the problem of stableperformance variation cause of increasing the open-loop gain integral part to improvecontrol accuracy in the past. Simulation and experimental study had been taken byusing fractional order PIλcontroller an integer order PI controller on a certainairborne photoelectric stabilized platform. The comparative experiments of stepresponse, velocity perturbation isolation, torque disturbance isolation and stableprecision showed that: the control system with fractional order PIλcontroller had asmall overshoot, the isolation of velocity perturbation increased approximately38%and stable accuracy is improved by about40%on the condition of sinusoidal velocityperturbation with amplitude of3.14o/s and frequency of0.5Hz.③A simplified pseudo-differential feedback control (PDF) strategy and fractionalorder pseudo-differential feedback control (FOPDF) algorithm were proposed andapplied to the airborne photoelectric stabilized platform. A series of simulationcomparison experiments were carried out between PDF controller, FOPDF controllerand PI controller in the anti-torque disturbance, isolation of the angular ratedisturbance of the vehicle and the plant variation on the airborne photoelectricstabilized platform. The results showed that the servo system of airborne photoelectricstabilized platform with PDF controller and FOPDF controller was superior to thesystem with PI controller in the same closed-loop bandwidth. It has smaller overshootand shorter rise time and regulating time. It is better than PI on the suppression oftorque and the airborne attitude disturbances within gyro noise. The system withFOPDF controller is more robust than that with PDF controller on the condition ofmodel variation.
The work of this thesis for fractional order control system, fractional order PIDcontrol, pseudo-differential feedback control and fractional order pseudo-differentialfeedback control on the application of airborne photoelectric gyro stabilized platformprovides theoretical support and technical reference, also can be some reference to related areas.
从提高光电稳定平台的控制性能和控制精度出发，本文以数学建模为基础，理论分析为依据，实验验证为目的，对光电稳定平台的控制技术进行较为深入地研究。全文的主要研究内容及成果如下：
①详细分析了机载光电稳定平台的线性和非线性特性，并建立了稳定平台的分数阶数学模型。从稳定平台的电流环设计和建模、传感器和机械谐振建模以及非线性特性建模三个方面讨论了传统数学建模的过程。详细介绍了电流环的设计和建模过程，提出了两种比较实用的建模方法。着重考虑了惯性传感器陀螺的Allan方差建模，从量化误差、角度随机游走、角速率随机游走和零偏稳定性等几个方面建立陀螺的随机误差模型。然后，建立系统的摩擦力、不平衡力矩和导线扰动力矩的非线性模型。最后，通过上述建模和分析得出结论，建立稳定平台的传统数学模型不仅建模过程复杂而且不能精确描述实际系统。采用频域辨识的方法建立系统的分数阶模型，能够在考虑非线性特性的情况下以更简洁的方式描述实际系统。
②提出了一种具有普适性的基于稳定裕度和剪切频率的分数阶PIλ控制器的设计方法，解决了以往靠提高开环增益或增加积分环节来提高控制精度而带来的稳定性变差的问题。并采用所设计的分数阶PIλ控制器和整数阶PI控制器分别进行了仿真和实验研究。阶跃响应对比实验、速度扰动隔离对比实验、力矩扰动隔离对比实验和稳定精度对比实验的结果表明，采用分数阶PIλ控制器的系统具有阶跃响应超调量小、抗扰能力强的优点，在幅值为3.14o/s，频率为0.5Hz的速度扰动下，速度扰动隔离度提高了约38%，稳定精度提高了约40%。
③提出了简化的伪微分反馈控制策略及其分数阶形式的控制策略，并应用于机载光电稳定平台中。采用两种控制器和PI控制器在抗力矩扰动、隔离载机角速率扰动和控制对象模型摄动等方面进行了仿真对比实验。实验结果表明，在相同的闭环带宽情况下，采用两种控制器的机载光电稳定平台的阶跃响应具有更小的超调，更短的上升和调节时间；在陀螺噪声存在的情况下，能够有效地抑制力矩和载机的姿态扰动对系统性能的影响；与整数阶伪微分反馈控制相比，分数阶伪微分反馈对被控制对象的模型摄动具有更强的鲁棒性。
本文的研究工作为分数阶控制系统建模、分数阶PI λ Dμ控制和分数阶伪微分反馈控制在机载光电稳定平台中的应用提供了理论支撑和技术参考，相关领域的研究和应用有一定的借鉴和参考意义。
Airborne photoelectric stabilized platform, as an important part of the airbornephotoelectric reconnaissance mission equipment, has a wide range of applications inthe enemy situation reconnaissance, target location, precision attack and so on. Itschief responsibility is to ensure the stability of optical axis by measuring andovercoming the attitude changes of carrier aircraft, the vibration of the engine, theairflow changes as well as itself frictional torque, wire disturbance torque, massimbalance torque, sensor noise disturbance and so on. In addition to the optical designand mechanical structure of the airborne photoelectric stabilized platform, the controltechnology is one of the key technologies of the photoelectric reconnaissancemissions to improve the location accuracy and capability of precision attack.
This thesis took a more in-depth study of the photoelectric gyro stabilizedplatform control technology in order to improve the control performance andprecision, base on the mathematical modeling, theoretical analysis and experimentalvalidation. The full text of the main content and the results are as follows:①The thesis established the fractional order mathematical model of airbornephotoelectric stabilized platform after analyzing the linear and nonlinearcharacteristics. The modeling process includes three aspects: the current loop designand modeling, sensors and mechanical resonance modeling and nonlinearcharacteristics modeling. The thesis introduced the design and modeling of currentloop in detail. Two practical modeling method of current loop was proposed. Itfocused on the Allan variance modeling of inertia sensor gyro, considering thequantization error, random walk angle, angular rate random walk and bias stability. Then, the thesis established the friction nonlinear model, the mass imbalance modeland the wire disturbance torque model of the system. It pointed out the traditionalmathematic model that is composed with linear and nonlinear characteristics is verycomplex and can not describe the actual system. The fractional order model ofairborne photoelectric stabilized platform was established by using frequencyidentification method. The model can describe the actual system in compact form.②A universal fractional order PIλcontroller design method wad proposed basedon stability margin and cutting frequency. It can solve the problem of stableperformance variation cause of increasing the open-loop gain integral part to improvecontrol accuracy in the past. Simulation and experimental study had been taken byusing fractional order PIλcontroller an integer order PI controller on a certainairborne photoelectric stabilized platform. The comparative experiments of stepresponse, velocity perturbation isolation, torque disturbance isolation and stableprecision showed that: the control system with fractional order PIλcontroller had asmall overshoot, the isolation of velocity perturbation increased approximately38%and stable accuracy is improved by about40%on the condition of sinusoidal velocityperturbation with amplitude of3.14o/s and frequency of0.5Hz.③A simplified pseudo-differential feedback control (PDF) strategy and fractionalorder pseudo-differential feedback control (FOPDF) algorithm were proposed andapplied to the airborne photoelectric stabilized platform. A series of simulationcomparison experiments were carried out between PDF controller, FOPDF controllerand PI controller in the anti-torque disturbance, isolation of the angular ratedisturbance of the vehicle and the plant variation on the airborne photoelectricstabilized platform. The results showed that the servo system of airborne photoelectricstabilized platform with PDF controller and FOPDF controller was superior to thesystem with PI controller in the same closed-loop bandwidth. It has smaller overshootand shorter rise time and regulating time. It is better than PI on the suppression oftorque and the airborne attitude disturbances within gyro noise. The system withFOPDF controller is more robust than that with PDF controller on the condition ofmodel variation.
The work of this thesis for fractional order control system, fractional order PIDcontrol, pseudo-differential feedback control and fractional order pseudo-differentialfeedback control on the application of airborne photoelectric gyro stabilized platformprovides theoretical support and technical reference, also can be some reference to related areas.
引文
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