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Photoelectric sight stabilizing platform control method based on disturbance observation fractional order controller

A technology of disturbance observation and photoelectric aiming stabilization, applied in adaptive control, general control system, control/adjustment system, etc., can solve the problems of difficult-to-stabilize platform control accuracy and tracking performance, and improve the line-of-sight stabilization accuracy and disturbance suppression. ability, fast response speed, and the effect of reducing the steady-state error of the system

Pending Publication Date: 2019-12-10
XIAN TECHNOLOGICAL UNIV
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Problems solved by technology

At present, the gyro stabilization method mostly adopts the classic PID control technology, that is, on the basis of the stable platform stabilization loop, it compensates for a certain large influencing factor in the system, and it is difficult to make the stable platform have high control accuracy and tracking performance.

Method used

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  • Photoelectric sight stabilizing platform control method based on disturbance observation fractional order controller
  • Photoelectric sight stabilizing platform control method based on disturbance observation fractional order controller
  • Photoelectric sight stabilizing platform control method based on disturbance observation fractional order controller

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Embodiment Construction

[0029] Include the following steps:

[0030] (1) Choose a two-axis two-frame rate gyro-stabilized platform. The platform is driven by a torque motor, and the angular rate gyro is sensitive to the angular rate relative to the inertial space, and a high-precision angular encoder is used to measure the angular position; due to the two-axis two-frame The azimuth axis and the pitch axis of the stable platform are orthogonal to each other, and the coupling effect of the disturbance between the two is negligible, and the control methods of the two axes are similar, consisting of a velocity loop and a position loop, so the velocity loop of the azimuth axis is used as the control object; the transfer function of the controlled object in the speed loop of the photoelectric stabilized aiming platform based on the current loop is

[0031]

[0032] Among them, s is the Laplacian operator, and K is the open-loop gain of the controlled object;

[0033] (2) Construct a disturbance observa...

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Abstract

The invention relates to a photoelectric sight stabilizing platform control method based on a disturbance observation fractional order controller, and belongs to the field of high-precision tracking control. A two-axis two-frame rate type gyro stabilized platform is selected, a disturbance observation fractional order control system is constructed, which comprises a fractional order control law FOPI with high precision and high flexibility and an extended state observer ESO with disturbance observation capability. According to the invention, the characteristics of high fractional order controlresponse speed and high precision are inherited; the advantage of the anti-interference capability of the disturbance observer is absorbed; the disturbance observer can effectively overcome the influence of external disturbance and uncertain factors of the system on the performance of the photoelectric sight-stabilizing platform, on the basis, the response speed of the system can be increased bycombining the fractional order control rate, the steady-state error of the system is reduced, and the visual axis stabilization precision and disturbance suppression capacity of the photoelectric sight-stabilizing platform are improved.

Description

technical field [0001] The invention belongs to the field of high-precision tracking control, and in particular relates to a disturbance observation fractional order control method for a photoelectric stabilized aiming platform. Background technique [0002] The photoelectric stabilized pointing platform is a detection device that integrates optoelectronics, electromechanics, and has the functions of high tracking accuracy, good real-time performance, clear image display and strong anti-interference ability. It has a wide range of applications in military and civil engineering fields. In terms of military use, with the development of weapons and equipment, higher requirements are put forward for the rapid response, stability, aiming, tracking and striking capabilities of the equipment, so the demand for high-precision electro-optical stabilization platform becomes more urgent; For example, if an electronic anti-jamming device is installed on the photoelectric stabilized aimi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 肖博王春阳刘雪莲孙靖
Owner XIAN TECHNOLOGICAL UNIV
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