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摘要:
本文设计了一种可以使光电伺服平台对目标对象进行高精度、稳定追踪的基于双速度环的扰动观测器，可以消除光电平台内部摩擦力矩、外部载体扰动以及传感器噪声的影响，提升系统的动态响应性能。首先，根据直流电机工作原理与负载模型，建立双速度环的数学控制模型。接着，通过分析多类型传感器的速度信号频谱和响应性能，选择噪声和延时较小的圆光栅代替传统测速设备，作为速度控制内环；同时选择光纤陀螺作为速度外环的反馈设备。然后，基于陀螺速度信号设计扰动观测器，对内速度环中的扰动补偿残差和外部载体扰动信号进行观测，并进行前馈信号补偿。实验结果表明，双速度环观测器的控制方法可以将系统调节时间降至原来的45%，在不同幅值（0.25°~2°）和频率（0.25 Hz~2 Hz）的正弦扰动信号下，该方法均能显著提高系统的扰动抑制能力，并将系统隔离度由原来的20.9 dB提升至30 dB。本文所提出的基于双速度环扰动观测器的控制方法满足光电跟踪平台快速响应、跟踪稳定、抗干扰能力强等要求。
Abstract:To achieve high-precision and stable tracking performance, a novel disturbance observer for the photoelectric platform based on dual velocity loops is designed. This method aims to minimize the impact of internal friction torque, external carrier disturbances and sensor noise, thereby enhancing the dynamic response performance of the system. Firstly, the mathematical model of double speed-loop is established. By analyzing the signal spectrum and response performance of various sensors, we have chosen the circular grating sensor with low noise and short delay to replace the traditional measuring machine for closing the inner speed loop. Moreover, the Fiber Optic Gyro (FOG) is utilized for the feedback device of the outer speed loop. Then, a disturbance observer is designed based on the gyro speed signal to observe the disturbance compensation residual in the inner speed loop and the outer carrier disturbance signal, while the feed-forward compensation is performed. The experimental results demonstrate that the double speed loop observer control method can reduce the system regulation time to 45% of the original. When subjected to sinusoidal disturbance signals with varying amplitudes (0.25° to 2°) and frequencies (0.25 Hz to 2 Hz), this method effectively improves the system's ability to suppress disturbances and increases the isolation degree from the initial 20.9 dB to 30 dB. The disturbance observer with double speed loops meets the system requirements of rapid response, stable tracking, high precision and strong anti-disturbance ability of the photoelectric tracking platform.
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图 3 基于双速度环观测器的数学模型框图
Figure 3. Block diagram of mathematical model based on double speed loop observer
图 7 不同实验条件下的抗扰动能力
Figure 7. Anti-disturbance abilities under different experiment conditions
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