Stability Control Method for Infrared Search and Track System Based on Mobile Platform
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摘要:
基于移动平台的红外搜索跟踪系统已成为新一代光电搜索跟踪系统的主流趋势，小型化和轻量化是其高机动性的保证。载体运动姿态变化耦合的角速度扰动和系统内部力矩干扰将对其搭载的光电载荷视轴稳定控制带来严峻挑战，基于多轴多框架和高精度陀螺反馈控制相结合的传统视轴稳定方法已无法适用。本文针对两轴两框架移动平台红外搜索跟踪系统的光电载荷视轴稳定控制，提出了基于平方PI和Luenberger扰动观测前馈的双速度闭环同阶串级控制方法。仿真和实验表明，相对于传统的单陀螺闭环和双速度闭环稳定控制方法，该稳定控制方法有效提升了载体运动低频扰动下的视轴稳定精度。1°/1 Hz扰动下，仿真稳定精度达到2.7817 μrad，实验稳定精度达到35.85 μrad。1°/2 Hz扰动下，仿真稳定精度达到38.199 μrad，实验稳定精度达到119.1 μrad。最终，利用本文提出的稳定控制方法，两轴两框架移动平台红外搜索跟踪系统有效克服了行进间载体运动姿态变化耦合的低频角速度扰动，实现了高平稳高动态的光电载荷视轴指向控制性能。
Abstract:Infrared search and tracking systems based on the mobile platform have become the mainstream trend of the new generation in optoelectronic search and track systems, and miniaturization and lightweight guarantee high mobility. The angular velocity disturbance, coupled with the carrier's motion attitude change and internal torque disturbance of the system, raises serious challenges to the optical-axis stability control of the optoelectronic load. The traditional optic-axis stability method based on a combination of multi-axis, multi-frame, and high-precision gyro feedback control, is no longer applicable. In this study, a double-velocity closed-loop same-order cascade control method is proposed based on square PI and Luenberger disturbance observation and feedforward, for the optical axis stability control of the optoelectronic load on a two-axis two-frame mobile platform infrared search and tracking system. Simulations and experiments show that compared with the conventional single-gyro closed-loop and double-velocity closed-loop stability control methods, the proposed stability control method can effectively improve the stability accuracy of the optical axis under low-frequency disturbance of the carrier's motion. Under a disturbance of 1°/1 Hz carrier motion, the stability accuracy of the simulated optical axis improved to 2.7817 μrad and that of the actual experiment improved to 35.85 μrad. Under a disturbance of 1° /2 Hz carrier motion, the stability accuracy of the simulated optical axis improved to 38.199 μrad and that of the actual experiment improved to 119.1 μrad. Finally, using the stability control method proposed in this study, the two-axis two-frame infrared search and track system based on the mobile platform effectively overcame the low-frequency angular velocity disturbance coupled with the carrier's motion attitude change between marching, to realize a highly stable and highly dynamic optical-axis-oriented control performance of the optoelectronic load.
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图 1 双速度闭环稳定控制模型
Figure 1. Single-axis double-velocity closed-loop stable control model
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图 2 双速度闭环同阶串级控制数学模型
Figure 2. Double-velocity closed-loop same order cascade control mathematical model
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图 3 基于平方PI控制的双速度闭环同阶串级控制模型
Figure 3. Double-velocity closed-loop same order cascade control model based on square PI controller
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图 4 单PI控制和平方PI控制的定性Bode图
Figure 4. Qualitative Bode plots for single PI and square PI control
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图 5 平方PI校正的Luenberger扰动观测器控制框图
Figure 5. Control block diagram of Luenberger disturbance observation with square PI corrector
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图 6 本文设计的视轴稳定控制原理框图
Figure 6. The optical axis stability control block diagram of our design
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图 7 两种稳定控制方法的扰动响应曲线
Figure 7. Disturbance response curves of two stability control methods
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图 8 单PI控制和平方PI控制的开环频率响应曲线
Figure 8. Open-loop frequency response curves of single PI and square PI controller
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图 9 1°/1 Hz扰动下基于改进控制结构和不同陀螺外环控制的视轴稳定曲线
Figure 9. Optical axis stability curves with 1°/1 Hz disturbance based on improved structure and different gyro outer-loop controller
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图 10 1°/2 Hz扰动下基于改进控制结构和不同陀螺外环控制的视轴稳定曲线
Figure 10. Optical axis stability curves with 1°/2 Hz disturbance based on improved structure and different gyro outer-loop controller
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图 11 Luenberger扰动观测前馈加入前后不同扰动下的视轴稳定曲线
Figure 11. Optical axis stability curves with different disturbance before and after the feedforward of Luenberger disturbance observation
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图 12 单PI校正和平方PI校正的1°/1 Hz扰动响应曲线
Figure 12. Disturbance response curves with 1°/1 Hz disturbance for single PI and square PI corrector
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图 13 单PI校正和平方PI校正的1°/2 Hz扰动响应曲线
Figure 13. Disturbance response curves with 1°/2 Hz disturbance for single PI and square PI correction
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图 14 不同算法的扰动响应幅频曲线
Figure 14. Magnitude-frequency curves of disturbance response of different algorithms
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图 15 本文稳定控制算法在不同角速度扰动下的稳定性能
Figure 15. Stability with different velocity disturbance based on the stability control method proposed in this paper
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图 16 本文稳定控制算法基于100 μrad稳定精度的扰动容限
Figure 16. Disturbance tolerance for 100 μrad stability accuracy based on the stability control method proposed in this paper
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图 17 基于六自由度摇摆台的移动平台红外搜索系统视轴稳定实验平台
Figure 17. The optical-axis-stability experimental platform of mobile platform infrared search and track system based on six-degree-of-freedom swing platform
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图 18 1°/1 Hz载体运动扰动下的视轴稳定效果
Figure 18. Optical axis stability with 1°/1 Hz carrier's disturbance
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图 19 1°/2 Hz载体运动扰动下的视轴稳定效果
Figure 19. Optical axis stability with 1°/2 Hz carrier's disturbance
表 1 俯仰框架基本电气参数
Table 1 Basic electrical parameters of pitching frame
Parameters Value Unit Moment of inertia 0.014 kg⋅m2 Armature resistance 14 Ω Armature inductance 7.5 mH Back-emf coefficient 0.28 V/rad/s Moment coefficient 0.28 Nm/A Gyro filter frequency 50 Hz 
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表 2 不同算法作用的视轴稳定精度
Table 2 Optical axis stability accuracy for different algorithms
μrad Disturbance Traditional double-closed loop Improved double-closed loop Singer PI Square PI Square PI+DOB_PI Square PI+DOB_PI-PI 1°/1 Hz 1168 30.3 3.744 2.85 2.7817 1°/2 Hz 2161 223.3 53.68 39.943 38.199
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表 3 摇摆台不同扰动条件下俯仰框架的视轴稳定精度
Table 3 Pitch-optical-axis stability accuracy with different disturbance of swing platform
Disturbance Single closed-loop/μrad Our method/μrad Decreasing percentage/% 1°/1 Hz 98.48 35.85 63.60 1°/2 Hz 394.4 119.1 69.80
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表 4 与部分代表性光电系统的稳定精度对比
Table 4 Comparison of stability accuracy with some representative optic-electric systems
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