高精度音圈快速反射镜的自适应鲁棒控制

为了进一步提高复合轴航空光电稳定平台的性能,文中首先在硬件电路中采用电流环将复杂的电机模型简化为一阶模型,同时保证电机的输出力矩稳定;然后在PD控制器的基础上,引入了自适应鲁棒控制器,对快速反射镜进行位置控制和扰动抑制;最后分别通过带宽测试实验、扰动抑制实验、视轴稳定实验和鲁棒性实验对其性能进行测试,并采用DOB型音圈式-快速反射镜和压电陶瓷式-快速反射镜做对比。实验结果表明:相比于传统的DOB型音圈式-快速反射镜系统,本文控制方法的参数鲁棒性更强;相比于传统的压电式-快速反射镜,本文控制方法不仅视轴稳定精度与其不相上下,还具有更大的行程。除此之外,在80Hz以内任意频率扰动的影响下,基于ARC型音圈式-快速反射镜的复合轴航空光电稳定平台的视轴稳定精度均可以控制在5μrad(RMS)以内;同时在-40℃~50℃的温度条件下依然可以保持该性能,远远优于DOB型音圈式-快速反射镜的效果。本文控制方法完全满足高精度航空光电稳定平台的性能要求,对提高航空光电稳定平台控制系统的抗扰动性能具有较高的实用价值。

Adaptive robust control over high-performance VCM-FSM

In order to improve the performance of the aviation photoelectrical stabilized platform ,an adaptive robust control (ARC)-based VCM-FSM (voice coil mode-fast steering mirror) was proposed . Firstly ,the current loop was adopted into electric circuit to simplify the complex model of motor into a first-order model and guarantee the stablity of output torque of the motor .Secondly ,on the basis of conventional PD controller ,ARC algorithm was introduced to control the position of VCM-FSM and restrain disturbance . Finally performance tests were conducted in bandwidth test experiment , disturbance restrain experiment ,stabilization experiment of visual axis and robust experiment .As comparison ,experimental results of DOB-based VCM-FSM and PCT-FSM were offered at the same time .As compared with the DOB-based VCM-FSM , parameter robust characteristic of proposed control method is stronger .Meanwhile ,as compared with traditional PZT-FSM ,it also exhibits longer travel range ,much simpler driving circuit ,and lower power consumption while the precision of LOS stability remains almost the same .Moreover ,visual axis stabilization precision of ARC-based VSM-FSM within 5 μrad (RMS ) can all be achieved under disturbance influence of any frequency within 80 Hz .This outstanding performance can be maintained at the temperature of -40 ℃ to 50℃ ,w hich is superior to the DOB-based VCM-FSM and can fulfill the requirements of a high precision aviation photoelectrical stabilized platform . Thus it has high practical value on improving anti-disturbance performance of control system for optoelectronic stabilizing platform of aviation .