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讨论了旋翼直升机高频振动时产生的质量不平衡力矩对航空光电稳定平台性能的影响。基于传统光电稳定平台电流反馈、速度反馈、位置反馈的三闭环控制系统提出了一种基于系统模型的质量不平衡力矩前馈补偿方法。该方法通过标定平台质量偏心,利用加速度传感器获取平台加速度信号来对平台的质量不平衡力矩进行前馈补偿,实现对平台质量不平衡力矩的抑制,提高光电稳定平台的扰动抑制能力。实验结果表明:相对于传统三闭环控制系统,引入前馈补偿后系统的扰动隔离度至少提高了6.4dB;相对于利用扰动观测器对质量不平衡力矩进行补偿的传统补偿方案,引入前馈补偿的光电稳定平台系统不仅在低频段补偿效果提升约12.9dB,而且克服了扰动观测器在高频时不能补偿质量不平衡力矩带来的影响,使平台在全频段的扰动隔离度都大幅提高,视轴能更好地稳定在惯性空间内,具有较高的实用性和使用价值。
The effect of mass unbalanced torque generated by high frequency vibration of rotor helicopter on the performance of aero-electro-optical stabilized platform is discussed. A three closed-loop control system based on current feedback, speed feedback and position feedback of the traditional photoelectric stabilized platform presents a feedforward compensation method based on system model for unbalanced torque. The method compensates for the unbalanced torque of the platform by calibrating the eccentricity of the platform and obtaining the acceleration signal of the platform by using the acceleration sensor to suppress the unbalanced torque of the platform and improve the disturbance suppression capability of the photovoltaic stabilized platform. Experimental results show that, compared with the traditional three closed-loop control system, the disturbance isolation of the system is improved by at least 6.4dB after the feedforward compensation is introduced. Compared with the traditional compensation scheme which uses disturbance observer to compensate mass unbalanced torque, feedforward compensation The optoelectronic stabilized platform system not only improves the compensation effect by about 12.9dB in the low frequency band but also overcomes the influence that the disturbance observer can not compensate for the mass imbalance torque at high frequency and greatly improves the platform’s isolation in the whole frequency range. Boresight can be better stabilized in the inertial space, with high practicality and value.