Motion carrier photoelectric stable platform control system with strong robustness

A photoelectric stable platform and motion carrier technology, applied in the field of photoelectric tracking, can solve problems such as insufficient real-time performance, unfavorable engineering realization, and large amount of calculation, and achieve the effects of facilitating engineering application, improving robustness, and improving suppression ability

Active Publication Date: 2012-04-25
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

These methods can improve the performance of the system in some aspects, but they are not conducive to engineering imp

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  • Motion carrier photoelectric stable platform control system with strong robustness
  • Motion carrier photoelectric stable platform control system with strong robustness
  • Motion carrier photoelectric stable platform control system with strong robustness

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Embodiment Construction

[0025] Embodiments of the present invention will be described below in conjunction with the accompanying drawings. But following embodiment only limits to explain the present invention, and protection scope of the present invention should comprise the whole content of claim, and promptly can realize the whole content of claim of the present invention to those skilled in the art through following embodiment.

[0026] The following is as attached figure 1 A photoelectric tracking one-dimensional stable platform as shown is taken as an example for illustration. The servo system consists of two single-axis turntables. The lower one is the disturbance table, which is used to provide the disturbance angular velocity, and the upper one is the stable platform. The disturbance table and the stable platform are directly driven by their respective torque motors. This system uses DMM16T acquisition board + PC104 / SPD2C embedded system, the sampling frequency is 1000Hz, and CS-ARS-12 rate ...

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Abstract

The invention provides a motion carrier photoelectric stable platform control system with strong robustness. The system comprises the following steps of: using an integrated stable method; designing a high bandwidth current ring; establishing an object mathematical model, testing object frequency characteristics by using a dynamic signal analysis meter and obtaining an object transmission function Gm(s) through fitting; designing an internal model controller Gimc(s) by using a two-step method according to the established object model; enabling the system to obtain high bandwidth through adjusting a parameter Epsilon of the internal model controller Gimc(s); adding a robustness control circuit on the basis of internal model control; designing a robustness controller Gc2(s); and improving the robustness performance of the system through adjusting the parameter gamma of the robustness controller Gc2(s). According to the invention, the modeling error and the carrier disturbance are softly measured through control structure design without need of an additional sensor. The method provided by the invention has the advantages of simple control structure, distinct parameter meaning, convenience for realizing engineering; and the accuracy in stabilizing the photoelectric tracking stable platform is largely improved.

Description

technical field [0001] The invention belongs to the field of photoelectric tracking, and in particular relates to a control system for a stable platform of photoelectric tracking on a moving carrier with strong robustness, which is used to improve the robustness of the system to modeling errors and carrier disturbances. Background technique [0002] For the ATP system on the moving carrier, the movement and vibration of the carrier and the interference of the external environment on the carrier can be coupled to the tracking platform through bearing friction, causing the shaking of the tracking line of sight (LOS), causing image blur and affecting the extraction of target misses. Therefore, it is necessary to establish a stable subsystem to isolate the visual axis of the tracking sensor from the movement and vibration of the base, so that the load of the stable subsystem can be stabilized in a fixed inertial space direction. Another difficulty in the control of the optoelect...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 夏运霞包启亮李志俊于伟
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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