Motion carrier photoelectric stable platform control system with strong robustness

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...

AI Technical Summary

Problems solved by technology

These methods can improve the performance of the system in some aspects, but they are not conducive to engineering implementation due to the complexity of the algorithm, large amount of calculation, or insufficient real-time performance.

Images