潜望式激光通信终端的扰动抑制与动态跟踪方法

潜望式激光通信终端系统内部执行机构的力矩脉动以及外部扰动等因素，会影响通信链路建立过程中伺服系统的跟踪精度与稳定性。为提高伺服系统的抗干扰能力与跟踪性能，采用降低执行结构的力矩波动、提升系统运行速度平稳性的方法，对系统的低速平稳性以及动态跟踪过程进行测试和分析；通过通信终端控制系统的动态跟踪实验，验证控制策略的有效性。实验结果表明：在最大速度为0.131°/s、最大加速度分别为0.137°/s²、0.329°/s²的平台扰动条件下，方位轴和俯仰轴的粗精复合跟踪精度都可以达到2 μrad以内，验证了通信终端伺服系统的抖动抑制能力及其系统的动态跟踪性能。

Disturbance Rejection and Dynamic Tracking Method for Periscopic Laser Communication Terminal

The tracking accuracy and stability of servo system for the periscope laser communication terminal can be reduced by the torque pulsation of the internal actuator and the external disturbance during the establishment of communication link. In order to improve the anti-interference ability and tracking performance of servo system，the speed smoothness of servo system is improved by lowering the torque fluctuations of performing structure.The stability and dynamic tracking process of the system were tested and analyzed，and the effectiveness of the control strategy was verified through the dynamic tracking experiments of terminal control system. The experimental results show that the combined tracking precision of azimuth axis and elevation axis is within 2 μrad under the condition of platform disturbance with the maximum velocity of 0.131°/s and the maximum acceleration of 0.137°/s² and 0.329°/s². The jitter suppression ability and dynamic tracking performance of communication terminal servo system are verified through the experiment.