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为了克服外部干扰对机载光电陀螺稳定平台的影响,实现高稳定精度和隔离度,采用基于伪微分反馈的控制技术对系统的控制性能进行了研究。首先,介绍了伪微分反馈控制技术的基本结构,并对其进行了简化。从理论上分析了简化的伪微分反馈控制技术在控制结构和控制性能上较经典PI控制的优势;然后,提出采用试凑法对伪微分反馈控制器进行参数整定的整定策略;最后,以某型号机载光电陀螺稳定平台为研究对象,对伪微分反馈控制器和PI控制器在抗力矩扰动、隔离载机角速率扰动和控制对象模型摄动等方面进行了仿真对比实验。实验结果表明,在相同的闭环带宽情况下,采用简化的伪微分反馈控制器的机载光电陀螺稳定平台的阶跃响应具有更小的超调,更短的上升和调节时间。在陀螺噪声存在的情况下,该控制器能够有效地抑制力矩和载机的姿态扰动对系统性能的影响;并且对被控对象的模型摄动具有较强的鲁棒性。
In order to overcome the influence of external disturbance on the stabilized platform of the airborne photoelectric gyroscope and achieve high stability and isolation, the control performance of the system is studied by the control technique based on the pseudo-differential feedback. First, the basic structure of pseudo-differential feedback control technology is introduced and simplified. The advantages of the simplified pseudo-differential feedback control technology over the classical PI control in the control structure and control performance are analyzed theoretically. Then, a trial and error method is proposed to set the parameters of the pseudo-differential feedback controller. Finally, The model stabilized gyroscope platform is taken as the research object, and the simulation experiments are carried out on the pseudo-differential feedback controller and PI controller in anti-torque disturbance, angular velocity disturbance of isolated carrier and perturbation of control object model. The experimental results show that the step response of the stabilized platform using the simplified pseudo-derivative feedback controller has smaller overshoot, shorter rise and settling time under the same closed-loop bandwidth. In the presence of gyroscopic noise, the controller can effectively restrain the influence of moment and attitude disturbance of the aircraft on the system performance, and has strong robustness to the model perturbation of the controlled object.