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根据三自由度机载光电跟瞄平台环架的动力学特性推导三轴平台环架动力学方程,通过对其进行简化并在平衡点线性化,得到适用于控制器设计的数学模型;采用鲁棒性好的H∞控制并结合Kalman滤波设计三轴平台环架稳定控制器。仿真研究表明,H∞控制器的控制效果良好,特别在模型参数摄动且有多种干扰作用时,控制效果几乎不受影响。这表明该稳定控制器的鲁棒性好、抗干扰能力强,满足机载光电跟瞄系统稳定控制的需要。
According to the dynamic characteristics of the three degrees of freedom on-board photoelectric tracking platform, the dynamic equations of the three-axis platform are deduced. By simplifying the equations and linearizing them at the equilibrium point, a mathematical model suitable for controller design is obtained. Excellent H∞ control combined with Kalman filter design three-axis platform ring stability controller. The simulation results show that the H∞ controller has a good control effect, especially when the model parameters are perturbed and there are a variety of interference effects, the control effect is almost unaffected. This shows that the stability of the robust controller, anti-interference ability, to meet the stability of airborne photoelectric tracking system needs.