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为了提高空间光通信PAT系统的扰动抑制能力,提出了一种基于扰动观测器的控制方法。该方法首先对PAT系统进行分析,得到简化的控制模型,然后利用扰动观测器从电机转动位置和光斑位置中观测出扰动,最后将扰动等效补偿量加入到电流环前的综合点。精跟踪系统的仿真实验结果表明:相比常规的PD控制器,加入扰动观测器使扰动隔离度在电机电流饱和前的几乎所有频率处都得到了提升,最优情况可达到28.2 d B;同时,该方法具有很强的鲁棒性,在系统物理参数变化15%时扰动隔离度依然比没有使用扰动观测器时提高了至少1倍。所述的控制方法显著提高了PAT系统的抗扰动性能,对大范围与高动态的精密光电跟踪系统有一定的参考价值。
In order to improve the disturbance suppression ability of PAT system in space optical communication, a disturbance observer-based control method is proposed. The method first analyzes the PAT system to obtain a simplified control model, and then uses the disturbance observer to observe the disturbance from the rotation position and spot position of the motor. Finally, the disturbance equivalent compensation amount is added to the synthesis point before the current loop. The simulation results of the precision tracking system show that the disturbance observer can increase the disturbance isolation at almost all frequencies before the motor current saturation compared with the conventional PD controller, and the optimal condition is 28.2 d B; meanwhile, , The method is robust. The disturbance isolation still increases by at least 1 time when the system physical parameters change by 15% compared with that without disturbance observer. The control method remarkably improves the anti-disturbance performance of the PAT system and has certain reference value for the large-scale and high-dynamic precision photoelectric tracking system.