Composite Current Control Method for Small Inertia Infrared Stable Platforms
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摘要: 小型化和高动态是红外成像稳定平台技术的发展趋势。由于转动惯量小，传统的PI型电流环控制难以克服反电动势的斜坡干扰，将降低小惯量红外稳定平台的动态响应。同时，高动态的小惯量红外稳定平台技术另一难点是平衡动态性和抗扰性能。为解决上述问题，本文提出一种基于无差拍预测控制和扩张状态观测的复合电流控制方法，有效提高了小转动惯量红外稳定平台的动态响应能力和抗干扰能力。仿真和实验结果表明，该复合电流控制方法将小惯量红外稳定平台电流环的调节时间缩短1/3，对速度响应的动态性能和抗干扰性能都有明显改善作用，而且具有很好的鲁棒性能。Abstract: Miniaturization and high dynamics are the development trends of infrared imaging stabilization platform technology. Owing to a small moment of inertia, traditional PI(Proportion Integral)-type current loop control cannot completely overcome the slope interference of the back electromotive force(back-EMF), which will reduce the dynamic response of small inertia infrared stable platforms. Concurrently, balancing dynamics and anti-disturbance performance is another difficulty with regard to high dynamic and small inertia infrared stable platform technology. To solve the a forenoted problems, a composite current control method based on dead-beat predictive control and extended state observation(ESO) is proposed in this paper, which effectively improves the dynamic response and anti-disturbance ability of small inertia infrared stable platforms. Simulation and experimental results show that the composite current control method reduces the settling time of the current loop of a small inertia infrared stable platform by 1/3. It also improves the dynamic performance and anti-disturbance performance of the speed response, and has good performance robustness.
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Key words:
- infrared stable platform /
- small moment of inertia /
- current loop /
- composite control
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图 1 基于id=0的永磁同步电机速度、电流双闭环矢量控制框图
Figure 1. Diagram of double closed-loop vector control of PMSM based on id=0
图 2 不同转动惯量J下反电动势对PI控制电流环性能的影响
Figure 2. The effect of the back-EMF on the PI current loop in different moment of inertia J
图 3 基于无差拍电流预测控制的数字控制系统时序图
Figure 3. Sequence diagram of digital control system based on dead-beat current prediction
图 4 无差拍预测控制的电流环响应曲线
Figure 4. The current response curve of dead-beat predictive control
图 5 基于无差拍预测的复合电流控制原理框图
Figure 5. Schematic diagram of the composite current controller based on dead-beat prediction
图 6 基于扩张状态观测的扰动前馈补偿模型
Figure 6. The disturbance feed forward compensation model based on ESO
图 7 两种电流控制器的电流环性能对比
Figure 7. Comparison of current loop performance of two current controllers
图 8 两种电流控制器对跟踪性能的影响
Figure 8. Effects of two current controllers on tracking performance
图 9 ESO前馈补偿下两种电流控制器对抗扰性能的影响
Figure 9. Effects of two current controllers on anti-disturbance performance based on ESO feed forward compensation
图 11 速度环抗扰鲁棒性能对比
Figure 11. Comparison of anti-disturbance robustness of the speed loop
图 12 快速控制原型半实物仿真实验平台架构与实物图
Figure 12. Experiment platform architecture and physical drawing of RCP simulation
图 13 两种电流控制方法的q轴电流响应性能对比
Figure 13. Comparison of q axis current response between two current control methods
图 14 基于两种电流控制方法作用的低速阶跃响应曲线
Figure 14. Low-speed step response curve based on two current control methods
图 15 基于两种电流控制方法作用的高速阶跃响应曲线
Figure 15. High-speed step response curve based on two current control methods
图 16 基于不同电流控制方法作用的速度环抗扰动响应曲线
Figure 16. Anti-disturbance response curves of speed loop based on different current control methods
表 1 小转动惯量的永磁同步电机参数
Table 1. The parameters of the PMSM
Motor parameter Value Unit Moment of inertia 0.0069 kg·m2 Rated voltage 24 V Armature resistance 0.63 Ω Armature inductance 4.73 mH Flux linkage of permanent magnets 0.075 Wb Number of pole pairs 16 
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表 2 基于两种电流控制方法作用的速度跟随对比
Table 2. Comparison of speed following performance based on two current control methods
Given speed Performance PI Composite control 1 r/min Settling time 15 ms 9 ms Response lag time 4 ms 1.8 ms Following error range ±0.32°/s ±0.17°/s 60 r/min Settling time 0.19 s 0.14 s Response lag time 0.039 s 0.017 s Following error range ±0.26°/s ±0.07°/s
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表 3 不同电流控制方法作用的速度环抗扰性能对比
Table 3. Comparison of anti-disturbance performance of speed loop under different current control methods
Steady-state speed Performance PI+ESO Composite control 1 r/min Speed fluctuation 24.3% 15.5% Recovering time 22 ms 13 ms 60 r/min Speed fluctuation 5.33% 2.92% Recovering time 0.105 s 0.047 s
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