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光纤陀螺作为光电跟踪伺服系统速度稳定回路的反馈测量元件,它的输出噪声直接影响伺服系统低速跟踪情况下的控制精度。抑制陀螺的输出噪声是改善伺服系统低速特性的有效手段之一。采用了一种简化的卡尔曼α-β滤波算法,使伺服系统的低速精度指标由原来采用移动平均滤波的0.005 2°/s提高到0.002 6°/s。实验证明,该算法可以有效地改善伺服系统的跟踪特性。
As the feedback measuring element of the speed stability loop of optical tracking servo system, its output noise directly affects the control accuracy of the servo system under low-speed tracking. Suppressing the output noise of the gyro is one of the effective means to improve the low speed characteristic of the servo system. A simplified Kalman α-β filtering algorithm is used to improve the low speed accuracy of the servo system from 0.005 2 ° / s, which is a moving average filter, to 0.002 6 ° / s. Experiments show that this algorithm can effectively improve the tracking performance of servo system.