Control scheme of aerial photoelectrical stabilized platform based on pseudo-derivative and acceleration feedback
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摘要:为了提高航空光电稳定平台的扰动隔离度，在传统平台的电流反馈、速度反馈、位置反馈的基础上增加了高增益加速度反馈，并利用伪微分反馈的控制技术设计出新的控制器来代替传统的速度反馈的PI控制器。实验结果表明，在模拟转台以1°、0~2.5 Hz的正弦干扰下，相对于传统的航空光电稳定平台，基于伪微分和加速度反馈控制的光电稳定平台的阶跃响应超调量减小了约7.8%，扰动隔离度提高了约8.7 dB；相对于基于PI控制器和加速度反馈控制的航空光电稳定平台，基于伪微分和加速度反馈控制的光电稳定平台的阶跃响应超调量减小了约2.6%，且平台的过渡过程加快。该控制系统能够有效地抑制扰动力矩的影响，具有较好的通用性和实用性。Abstract:In order to improve the disturbance isolation degree of aerial photoelectrical stabilized platform, a new controller is designed to replace the traditional PI controller. The new controller utilizes the pseudo-derivative feedback (PDF) control technology and high-gain acceleration feedback based on current feedback, speed feedback and position feedback on the traditional platform. When flight simulator is influenced by 1 degree, 0-2.5 Hz sinusoidal interference, compared with the traditional aerial photoelectrical stabilized platform, the step response overshoot of the platform based on PDF and acceleration feedback system decreases by about 7.8%, and the disturbance isolation degree increases by about 8.7 dB. Besides, compared with the aerial photoelectrical stabilized platform based on PI controller and acceleration feedback control system, the step response overshoot of the platform based on PDF and acceleration feedback system can reduce by about 2.6%, and the transition process of the platform is faster. The control system can effectively restrain the influence from disturbance torque, and this makes the system more common and useful.
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图 4引入加速度反馈闭环的调速系统
Figure 4.Structure diagram of the speed regulating system with acceleration loop
图 6传统速度反馈系统与基于PDF和加速度反馈控制系统的抗扰曲线
Figure 6.Disturbance-rejection curves of traditional speed feedback system and control system based on PDF and acceleration feedback
图 7传统速度反馈系统与基于PDF和加速度反馈控制系统的阶跃响应曲线
Figure 7.Step response curves of traditional speed feedback system and control system based on PDF and acceleration feedback
图 8基于PI和加速度反馈控制系统与基于伪PDF和加速度反馈控制系统的抗扰曲线
Figure 8.Disturbance-rejection curves of control system based on PI and acceleration feedback and control system based on PDF and acceleration feedback
图 9基于PI和加速度反馈控制系统与基于伪PDF和加速度反馈控制系统的阶跃曲线
Figure 9.Step response curves of control system based on PI and acceleration feedback and control system based on PDF and acceleration feedback
表 1基于PDF和加速度反馈控制系统相对于传统速度反馈系统扰动隔离度的提高程度
Table 1.Improvement of disturbance isolation degree of the control system based on PDF and acceleration feedback relative to the traditional speed feedback system
Disturbance
frequency/HzImprovement of disturbance
isolation degree/dB0.1 13.61 0.5 12.83 1.0 11.27 1.5 9.91 2.0 8.70 2.5 10.15 
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表 2基于PDF的加速度反馈控制系统扰动隔离度的提高程度(相对于基于PI)
Table 2.Improvement of disturbance isolation degree based on PDF relative to PI-based acceleration feedback control system
Disturbance
frequency/HzImprovement of disturbance
isolation degree/dB0.1 4.24 0.5 3.72 1.0 3.98 1.5 3.84 2.0 3.63 2.5 4.16 下载:
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