A Fast Mirror Control Method Based on Tracking and Disturbance Feedforward
A control method and feedforward technology, applied in the field of photoelectric tracking platform inertial stability control, can solve problems such as insufficient tracking and anti-disturbance performance, and achieve the effects of clear thinking, improved robustness, and easy engineering.
Active Publication Date: 2021-09-07
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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[0003] Aiming at the problem of insufficient tracking and anti-interference performance in the current fast mirror control system based on fiber optic gyroscope and CCD, this paper proposes to differentiate the output signal of CCD and superimpose it with the delayed speed given signal to obtain the target and The synthesis speed of the disturbance information, because the CCD delay has little influence on the low-frequency signal, the low-frequency component of the synthesis speed can be directly fed forward to the closed-loop system to improve the low-frequency tracking and anti-interference performance of the system
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[0027] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0028] Such as figure 1 Shown is a control block diagram of a fast mirror control method based on tracking and disturbance feedforward, which includes a speed loop, a CCD position loop, and a feedforward structure that is differentiated by the CCD data and superimposed on the speed given amount; figure 2 is the equivalent transformation control block diagram of accompanying drawing 1, and the feedforward structure of the present invention is actually a combination of tracking feedforward and observation-based disturbance feedforward, where B v is the speed closed-loop transfer function, at low frequency, B v Equal to 1; through the low-pass filter Q 1 Extract target and disturbance low-frequency components, feed them to the system, and improve the low-frequency tracking and anti-interference performance of the system. The co...
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The invention discloses a fast mirror control method based on tracking and disturbance feedforward. Aiming at the problems of insufficient tracking accuracy and insufficient anti-disturbance ability in the fast mirror double closed-loop tracking stabilization control based on fiber optic gyroscope and CCD sensor, this method combines the output of CCD and the speed closed-loop model on the basis of speed and position closed-loop The output of the system constructs a synthetic velocity containing target and disturbance information, which is fed forward to the system, and realizes tracking feedforward and disturbance feedforward at the same time, which improves the tracking and anti-disturbance performance of the system at low frequencies. This method is to improve the system from the control structure, on the basis of feedback control, combined with the feedforward method to fully tap the sensor's ability, without adding any hardware, to improve the system performance.
Description
technical field [0001] The invention belongs to the field of inertial stability control of photoelectric tracking platforms, in particular to a fast mirror control method based on tracking and disturbance feedforward, which mainly improves the low-frequency tracking and anti-disturbance performance of the system, thereby improving the tracking accuracy of the system in complex disturbance environments . Background technique [0002] In the photoelectric tracking system, compared with the frame with large volume and moment of inertia, the fast mirror has small inertia, good linearity and high bandwidth, so it is widely used in the compound axis tracking system. The fast mirror system based on the motion platform is not only used to track the movement of the target, but also to counteract the disturbance transmitted by the platform base in real time. In terms of control methods, due to the delay and low bandwidth of CCD, a speed inner loop based on fiber optic gyroscope is of...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 罗勇黄永梅毛耀任维
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI