基于卡尔曼滤波算法的加速度反馈控制在航空光电稳定平台中的应用

为进一步提高航空光电稳定平台的视轴稳定精度，提出一种基于卡尔曼滤波算法的加速度反馈控制策略。根据光电平台伺服系统模型特点设计卡尔曼滤波器，将卡尔曼滤波器采集的光电平台伺服系统输入输出信号作为自身输入信号，并输出速度的滤波信号和加速度的估计结果。然后将卡尔曼滤波器输出的速度和加速度估计值分别作为被控对象速度环路和加速度环路的反馈信号。进行了模拟仿真和样机实验，结果表明：伺服系统引入加速度反馈控制后，可以使光电平台对2.5 Hz以内不同频率的扰动力矩都具有良好的抑制效果，扰动隔离度优于20 dB；相比于传统单速度环控制方案，阶跃响应的超调量至少降低40%. 由此可见，将加速度环引入传统速度环控制系统可以有效改善光电稳定平台的伺服控制性能，具有较高的工程应用价值。

Application of Kalman Filter-based Acceleration Feedback Control in Airborne Opto-electronic Stabilized Platform

A method of joining the acceleration feedback control based on Kalman filter in the traditional closed-loop speed control system is proposed to further improve the line-of-sight stabilization accuracy of airborne opto-electronic stabilized platform. Kalman filter collects the input and output signals of the servo system of opto-electronic stabilized platform as its input signal, and outputs the filtered signal of velocity and the estimated result of acceleration. The output speed and acceleration signals are used as the feedback signals of speed loop and acceleration loop, respectively. The simulation and prototype experiment were made. The results show that the acceleration feedback control based on Kalman filter can effectively improve the suppression effect of opto-electronic stabilized platform on the disturbance torque of different frequencies, and the disturbance isolation is better than 20 dB. The step response overshoot is reduced by 40% at least compared to traditional control schemes. The acceleration feedback control based on Kalman filter can effectively improve the servo control performance of opto-electronic stabilized platform.