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为提高两轴双框架导引头稳定平台的隔离度,设计了导引头控制系统。在惯性空间基础上,建立了导引头的隔离度模型,分析了影响系统隔离度的主要因素。根据对系统摩擦性质的分析,建立了系统的摩擦模型,并确定了摩擦补偿算法。采用极点配置和超前滞后的方法设计了控制器,并通过仿真和实验的方法验证了摩擦自适应补偿算法的可行性。俯仰单通道仿真结果表明,摩擦自适应补偿算法能准确估计出模型参数,且在弹体扰动幅值为1°,频率为2 Hz时,系统在摩擦自适应补偿后,俯仰框隔离度提高了97.14%。实验结果显示,在弹体扰动幅值为1°,频率为2 Hz时,导引头俯仰框和偏航框的隔离度分别为1.58%和1.81%;在弹体扰动幅值为3°,频率为3 Hz时,导引头俯仰框和偏航框的隔离度分别为2.84%和2.15%。
In order to improve the isolation of the stable platform of two-axis double-frame seeker, the seeker control system is designed. Based on the inertial space, the isolation model of seeker is established, and the main factors affecting the isolation of the system are analyzed. Based on the analysis of the frictional properties of the system, the friction model of the system is established and the friction compensation algorithm is determined. The controller is designed by the method of pole placement and lead lag, and the feasibility of adaptive friction compensation algorithm is verified by simulation and experiment. Pitch single-channel simulation results show that the friction adaptive compensation algorithm can accurately estimate the model parameters. When the projectile turbulence amplitude is 1 ° and the frequency is 2 Hz, the system’s pitch frame isolation increases after the friction adaptive compensation 97.14%. Experimental results show that the isolation degrees of the pitch and yaw frames of the seeker are 1.58% and 1.81% respectively when the projectile disturbance amplitude is 1 ° and the frequency is 2 Hz. When the projectile disturbance amplitude is 3 °, When the frequency is 3 Hz, the isolation degrees of pitch and yaw frame of the seeker are 2.84% and 2.15% respectively.