An adaptive feedforward stabilization method for precision guided photoelectric guidance platform

Abstract

The application obtains the line-of-sight angle signal of the accurate guidance photoelectric guidance platform by adopting the IRFPA infrared camera to take pictures and measure and carries out data processing, and obtains the platform angular velocity expected limiting signal by non-linear operation, lag and integral, design of non-linear adaptive advance correction network and limiting, and installs the rate gyro to measure the pitch angular velocity signal of the photoelectric guidance platform, and obtains the platform angular velocity error signal by comparison; the rate gyro is installed on the base of the photoelectric guidance platform to measure the platform base pitch angular velocity signal, and the base non-linear feedforward compensation signal is obtained by designing the non-linear feedforward compensation network; finally, the angular velocity error advance correction signal is obtained by designing the interference adaptive compensation and non-linear advance correction network, and the final photoelectric guidance platform stable control voltage signal is formed by superimposing the platform angular velocity error signal to realize the stability of the accurate guidance photoelectric guidance platform.

Description

Technical Field

[0001] This invention relates to the field of position measurement and stabilization of precision-guided photoelectric guidance platforms, and more specifically, to an adaptive feedforward stabilization method for precision-guided photoelectric guidance platforms. Background Technology

[0002] In recent years, imaging-based precision-guided weapons, with their strong anti-jamming capabilities, especially target selection and hit point selection, have enabled them to conduct precision strikes in complex battlefield environments, making them one of the precision-guided technologies that countries around the world are vying to develop. Precision-guided electro-optical stabilization platforms, due to their ability to isolate disturbances from carriers, missiles, aircraft, armored vehicles, and ships, continuously measure changes in platform attitude and position, accurately maintain a dynamic attitude reference, and achieve automatic target tracking through image detection equipment, have been widely used in modern weapon systems. Conventional stabilization platforms generally use gyroscope velocity feedback, combined with classical control theories such as transfer function design, pole feedback, and stability margin matching. However, the aforementioned stabilization platforms often require prior knowledge of the main swaying frequencies of the platform base for targeted design during feedforward compensation, thus failing to fully guarantee performance at other frequency points, resulting in a less than outstanding overall anti-jamming and disturbance isolation capability. Based on these background reasons, this invention employs a method combining adaptive, interference compensation, and nonlinear lead correction to design a precision-guided electro-optical stabilization platform. Experimental results show that this method has excellent anti-jamming capabilities, demonstrating the high engineering application value of this invention.

[0003] It should be noted that the information in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive feedforward stabilization method for a precision-guided photoelectric guidance platform, thereby overcoming the problems of low platform stability accuracy, weak noise interference isolation, and poor external base swaying ability caused by the limitations and defects of related technologies.

[0005] According to one aspect of the present invention, an adaptive feedforward stabilization method for a precision-guided optoelectronic guidance platform is provided, comprising the following steps:

[0006] Step S10: Install a rate gyroscope on the precision-guided electro-optical guidance platform and measure the pitch angular velocity signal of the electro-optical guidance platform, denoted as ω; simultaneously install a rate gyroscope on the base of the electro-optical guidance platform and measure the pitch angular velocity signal of the platform base, denoted as ω. b The line-of-sight angle signal of the photoelectric guidance platform is obtained by taking pictures and measuring with an IRFPA infrared camera and processing the data, denoted as q.

[0007] Step S20: Based on the line-of-sight angle signal, first perform nonlinear calculation and lag processing, then perform combined integration to obtain the nonlinear combined integral signal of the line-of-sight angle; then design a nonlinear adaptive lead correction network to perform lead processing to obtain the nonlinear lead signal of the line-of-sight angle.

[0008] Step S30: Based on the line-of-sight angle signal, the line-of-sight angle nonlinear combined integral signal, and the line-of-sight angle nonlinear lead signal, the platform pitch angular velocity signal is superimposed to obtain the desired platform angular velocity signal, and then amplitude limiting processing is performed to obtain the desired amplitude-limited platform angular velocity signal.

[0009] Step S40: Based on the platform base pitch angular velocity signal, design a nonlinear feedforward compensation network to obtain the base nonlinear feedforward compensation signal; compare the platform angular velocity expected amplitude limiting signal with the platform pitch angular velocity signal to obtain the platform angular velocity error signal.

[0010] Step S50: Based on the platform angular velocity error and the platform base pitch angular velocity signal, design an interference adaptive compensation signal; then, based on the platform angular velocity error signal, design a nonlinear lead correction network to obtain the angular velocity error lead correction signal.

[0011] Step S60: The base nonlinear feedforward compensation signal, platform angular velocity error signal, interference adaptive compensation signal, and angular velocity error advance correction signal are superimposed to obtain the final photoelectric guidance platform stable control voltage signal, which is then sent to the torque motor to drive the photoelectric guidance platform and its load, thereby stabilizing the line-of-sight angle signal of the photoelectric guidance platform.

[0012] In one exemplary embodiment of the present invention, based on the line-of-sight angle signal, nonlinear calculations and hysteresis processing are first performed, followed by combined integration, to obtain a nonlinear combined integral signal of the line-of-sight angle, including:

[0013]

[0014] s1=∫(q f +k5q f1 )dt;

[0015] Where q f q represents the nonlinear signal of the line-of-sight angle; k1, k2, k3, k4, and ε1 are constant parameter signals; detailed design can be found in the case implementation below. f1 The line-of-sight angle hysteresis signal is represented by T0 and T1, which are constant parameters. Detailed design can be found in the case study below. s1 is the nonlinear combined integral signal of the line-of-sight angle; k5 is a constant parameter. Detailed design can be found in the case study below.

[0016] In one exemplary embodiment of the present invention, a nonlinear adaptive lead correction network is designed to perform lead processing based on the aforementioned line-of-sight angle signal, resulting in a nonlinear lead signal for the line-of-sight angle, including:

[0017] Where q f3 (n+1) is the approximate differential signal of the line-of-sight angle; c1(n) is the adaptive parameter signal of the adaptive correction network; q f2 (n+1) is the nonlinear lead signal of the line of sight angle; T2, T3, k6, and k7 are constant parameters. For detailed design, please refer to the case implementation below.

[0018] In one exemplary embodiment of the present invention, the platform pitch angular velocity expectation signal is obtained by superimposing the line-of-sight angle signal, the line-of-sight angle nonlinear combined integral signal, and the line-of-sight angle nonlinear lead signal, and then subjected to amplitude limiting processing to obtain the platform angular velocity expectation amplitude-limited signal, including:

[0019] ω d =k a1 q+k a2 s1+k a3 q f2 +k a4 ω1;

[0020]

[0021] Where ω d The desired angular velocity signal for the platform; k a1 k a2 k a3 k a4 This is a constant parameter; detailed design can be found in the case study below. ω d1 ε2 is the desired amplitude limiting signal for the platform's angular velocity; sign() is the sign function; ε2 is the constant amplitude limiting parameter. For detailed design, please refer to the case implementation below.

[0022] In one exemplary embodiment of the present invention, a nonlinear feedforward compensation network is designed based on the platform base pitch angular velocity signal to obtain the base nonlinear feedforward compensation signal, including:

[0023]

[0024] Where ω b3 The nonlinear signal of the platform base pitch angle acceleration; ω b1 For the nonlinear feedforward compensation signal of the base; T4, a w This is a constant parameter; detailed design can be found in the case implementation below.

[0025] In one exemplary embodiment of the present invention, the platform angular velocity error signal is obtained by comparing the platform angular velocity expected limiting signal with the platform pitch angular velocity signal, and then, based on the platform angular velocity error, an interference adaptive compensation signal is designed, including:

[0026] e ω =ω-ω d1 ;

[0027]

[0028] Where e ω The platform angular velocity error signal; T w For interference adaptive compensation signal; b1, b2, b3 are interference adaptive compensation coefficients; k b1 k b2 k b3 k b4 k b5 k b6 This is a constant parameter; detailed design can be found in the case implementation below.

[0029] In one exemplary embodiment of the present invention, a nonlinear lead compensation network is designed based on the platform angular velocity error signal to obtain the angular velocity error lead compensation signal, including:

[0030]

[0031] Where e ω3 (n+1) represents the approximate differential signal of the platform angular velocity error; c2(n) represents the adaptive parameter signal of the adaptive lead compensation network; e ω2 (n+1) is the angular velocity error lead correction signal; k7 and k8 are constant parameters, and the detailed design can be found in the case implementation below.

[0032] In one exemplary embodiment of the present invention, the final photoelectric guidance platform stable control voltage signal is obtained by superimposing the base nonlinear feedforward compensation signal, the platform angular velocity error signal, the interference adaptive compensation signal, and the angular velocity error lead correction signal, including:

[0033] u = T w +k c1 e ω +k c2 ω b1 +k c3 e ω2 ;

[0034] Where u is the final photoelectric guidance platform stabilization control voltage signal, and k c1 k c1 k c3This is a constant control parameter; its detailed design can be found in the case implementation below.

[0035] Beneficial effects

[0036] This invention discloses an adaptive feedforward stabilization method for a precision-guided optoelectronic platform. Its main innovations are as follows: First, it employs a nonlinear adaptive lead compensation network, which effectively compensates for the delay caused by the IRFPA infrared camera's image capture and data processing within the optoelectronic platform. Second, it combines base nonlinear feedforward compensation, interference adaptive compensation, and the nonlinear lead compensation network, significantly enhancing the anti-disturbance capability of the velocity stabilization loop, thereby ultimately greatly improving the overall platform stabilization system's ability to resist and isolate disturbances.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0039] Figure 1 This is a flowchart of an adaptive feedforward stabilization method for a precision-guided photoelectric guidance platform provided by the present invention.

[0040] Figure 2 This is the pitch angular velocity signal curve (radians / second) of the photoelectric guidance platform provided in the embodiments of the present invention;

[0041] Figure 3 This is the platform base pitch angular velocity signal curve (radians / second) of the method provided in the embodiments of the present invention;

[0042] Figure 4 This is the line-of-sight angle signal curve (degrees) of the photoelectric guidance platform provided in the embodiments of the present invention;

[0043] Figure 5 This is the desired amplitude-limited signal curve (radians / second) of the platform angular velocity provided by the method in the embodiments of the present invention;

[0044] Figure 6 This is a unitless curve of the stable control voltage signal of the photoelectric guidance platform provided in the embodiments of the present invention.

[0045] Figure 7It is the platform base pitch angle signal curve (in radians) of the method provided in the embodiments of the present invention. Detailed Implementation

[0046] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention may be practiced with one or more of these specific details omitted, or other methods, components, apparatus, steps, etc., may be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of the invention.

[0047] This invention provides a method for obtaining the line-of-sight angle signal of a precision-guided optoelectronic platform by taking pictures and measuring the data using an IRFPA infrared camera and processing the data. A nonlinear adaptive lead correction network is designed through nonlinear operations, hysteresis, and integration. A limiting signal for the platform's angular velocity is obtained by limiting the amplitude. A rate gyroscope is installed to measure the pitch angular velocity signal of the optoelectronic platform, and this is compared to obtain the platform angular velocity error signal. A rate gyroscope is then installed on the platform base to measure the platform base's pitch angular velocity signal. A nonlinear feedforward compensation network is designed to obtain the base's nonlinear feedforward compensation signal. Finally, an angular velocity error lead correction signal is obtained by designing an interference adaptive compensation and nonlinear lead correction network. This signal is then superimposed on the platform angular velocity error signal to form the final stable control voltage signal for the optoelectronic guidance platform, which is then fed to a torque motor to achieve the stabilization of the precision-guided optoelectronic platform.

[0048] The adaptive feedforward stabilization method for a precision-guided photoelectric guidance platform according to the present invention will be further explained and described below with reference to the accompanying drawings. (Reference) Figure 1 As shown, the adaptive feedforward stabilization method for a precision-guided optoelectronic guidance platform may include the following steps:

[0049] Step S10: Install a rate gyroscope on the precision-guided electro-optical guidance platform and measure the pitch angular velocity signal of the electro-optical guidance platform; at the same time, install a rate gyroscope on the base of the electro-optical guidance platform and measure the pitch angular velocity signal of the platform base; use an IRFPA infrared camera to take pictures and measure, and perform data processing to obtain the line-of-sight angle signal of the electro-optical guidance platform.

[0050] Specifically, firstly, a rate gyroscope is installed on the precision-guided electro-optical guidance platform to measure the platform's pitch angular velocity, denoted as ω; secondly, a rate gyroscope is installed on the platform's base to measure the base's pitch angular velocity, denoted as ω. b Finally, a high-speed IRFPA infrared camera was used to take pictures and measure the data, and the line-of-sight angle signal of the photoelectric guidance platform was obtained by data processing, denoted as q.

[0051] Step S20: Based on the line-of-sight angle signal, first perform nonlinear calculation and lag processing, then perform combined integration to obtain the nonlinear combined integral signal of the line-of-sight angle; then design a nonlinear adaptive lead correction network to perform lead processing to obtain the nonlinear lead signal of the line-of-sight angle.

[0052] Specifically, based on the aforementioned line-of-sight angle signal q, the following nonlinear operation is performed to obtain the line-of-sight angle nonlinear signal as follows:

[0053]

[0054] Where q f ε is the line-of-sight angle nonlinear signal; k1, k2, k3, k4, and ε1 are constant parameter signals; detailed design can be found in the case implementation below.

[0055] Secondly, based on the line-of-sight angle signal, a nonlinear hysteresis corrector is designed, and the line-of-sight angle hysteresis signal is obtained as follows:

[0056]

[0057] Where q f1 The line-of-sight angle hysteresis signal is represented by T0 and T1, which are constant parameters. Detailed design is described in the case implementation below. Then, the line-of-sight angle hysteresis signal and the line-of-sight angle nonlinear signal are combined and integrated to obtain the following nonlinear combined integrated line-of-sight angle signal:

[0058] s1=∫(q f +k5q f1 )dt;

[0059] Where s1 is the nonlinear combined integral signal of the line of sight angle; k5 is a constant parameter, and detailed design can be found in the case implementation below.

[0060] Finally, based on the aforementioned line-of-sight angle signal, a nonlinear adaptive lead correction network is designed for lead processing, yielding the following nonlinear line-of-sight angle lead signal:

[0061]

[0062]

[0063] Where q f3(n+1) is the approximate differential signal of the line-of-sight angle; c1(n) is the adaptive parameter signal of the adaptive correction network; q f2 (n+1) is the nonlinear lead signal of the line of sight angle; T2, T3, k6, and k7 are constant parameters. For detailed design, please refer to the case implementation below.

[0064] Step S30: Based on the line-of-sight angle signal, the line-of-sight angle nonlinear combined integral signal, and the line-of-sight angle nonlinear lead signal, the platform pitch angular velocity signal is superimposed to obtain the desired platform angular velocity signal, and then the amplitude limiting process is performed to obtain the desired amplitude limiting signal of platform angular velocity.

[0065] Specifically, firstly, based on the aforementioned line-of-sight angle signal, line-of-sight angle nonlinear combined integral signal, and line-of-sight angle nonlinear lead signal, the platform pitch angular velocity signal is superimposed to obtain the platform's expected angular velocity signal as follows:

[0066] ω d =k a1 q+k a2 s1+k a3 q f2 +k a4 ω1;

[0067] Where ω d The desired angular velocity signal for the platform; k a1 k a2 k a3 k a4 This is a constant parameter; detailed design can be found in the case implementation below.

[0068] Then, based on the desired platform angular velocity signal, the following saturation limiting processing is performed to obtain the desired platform angular velocity limiting signal as follows:

[0069]

[0070] Where ω d1 ε2 is the desired amplitude limiting signal for the platform's angular velocity; sign() is the sign function; ε2 is the constant amplitude limiting parameter. For detailed design, please refer to the case implementation below.

[0071] Step S40: Based on the platform base pitch angular velocity signal, design a nonlinear feedforward compensation network to obtain the base nonlinear feedforward compensation signal; compare the platform angular velocity expected amplitude limiting signal with the platform pitch angular velocity signal to obtain the platform angular velocity error signal.

[0072] Specifically, a nonlinear feedforward compensation network is first designed based on the platform base pitch angular velocity signal, resulting in the following nonlinear feedforward compensation signal for the base:

[0073]

[0074] Where ω b3 The nonlinear signal of the platform base pitch angle acceleration; ω b1 For the nonlinear feedforward compensation signal of the base; T4, a w This is a constant parameter; detailed design can be found in the case implementation below.

[0075] Then, by comparing the platform angular velocity expected limiting signal with the platform pitch angular velocity signal, the platform angular velocity error signal is obtained as follows:

[0076] e ω =ω-ω d1 ;

[0077] Where e ω This is the platform angular velocity error signal.

[0078] Step S50: Based on the platform angular velocity error and the platform base pitch angular velocity signal, design an interference adaptive compensation signal; then, based on the platform angular velocity error signal, design a nonlinear lead correction network to obtain the angular velocity error lead correction signal.

[0079] Specifically, based on the platform angular velocity error signal, the following adaptive interference compensation signal is designed:

[0080]

[0081] Where T w For interference adaptive compensation signal; b1, b2, b3 are interference adaptive compensation coefficients; k b1 k b2 k b3 k b4 k b5 k b6 This is a constant parameter; detailed design can be found in the case implementation below.

[0082] Then, based on the platform angular velocity error signal, a nonlinear lead compensation network is designed, and the angular velocity error lead compensation signal is obtained as follows:

[0083]

[0084]

[0085] Where e ω3 (n+1) represents the approximate differential signal of the platform angular velocity error; c2(n) represents the adaptive parameter signal of the adaptive lead compensation network; e ω2 (n+1) is the angular velocity error lead correction signal; k7 and k8 are constant parameters, and the detailed design can be found in the case implementation below.

[0086] Step S60: The base nonlinear feedforward compensation signal, platform angular velocity error signal, interference adaptive compensation signal, and angular velocity error advance correction signal are superimposed to obtain the final photoelectric guidance platform stable control voltage signal, which is then sent to the torque motor to drive the photoelectric guidance platform and its load, thereby stabilizing the line-of-sight angle signal of the photoelectric guidance platform.

[0087] Specifically, by superimposing the base nonlinear feedforward compensation signal, the platform angular velocity error signal, the interference adaptive compensation signal, and the angular velocity error lead correction signal, the final photoelectric guidance platform stable control voltage signal is obtained as follows:

[0088] u = T w +k c1 e ω +k c2 ω b1 +k c3 e ω2 ;

[0089] Where u is the final photoelectric guidance platform stabilization control voltage signal, and k c1 k c1 k c3 This is a constant control parameter; its detailed design can be found in the case implementation below.

[0090] Case Implementation and Computer Simulation Results Analysis

[0091] In step S10, a rate gyroscope is installed on the precision-guided photoelectric guidance platform to measure the pitch angular velocity signal of the photoelectric guidance platform. Figure 2 As shown, the amplitude oscillates sinusoidally around 0.03; simultaneously, a rate gyroscope is installed on the photoelectric guidance platform base to measure the platform base's pitch angular velocity signal, as shown below. Figure 3 As shown, the amplitude fluctuates around 1.5; the line-of-sight angle signal of the photoelectric guidance platform is obtained by taking pictures and measuring with an IRFPA infrared camera and processing the data. Figure 4 As shown, the amplitude fluctuates around 0.001.

[0092] In step S20, the following values ​​are selected: k1 = -250, k2 = -25, k3 = -16, k4 = 28, ε1 = 0.1, T1 = 0.2, T0 = 0.001; k5 = 0.3; T2 = 0.05, T3 = 1.2, k6 = 0.05, k7 = 0.01.

[0093] In step S30, k is selected. a1 =400, k a2 =2, k a3 =1.5, k a4 =2, ε2=0.8. The desired limiting signal of the platform angular velocity is obtained as follows: Figure 5 As shown.

[0094] In step S40, T4 = 0.25 and a are selected. w =8.95.

[0095] In step S50, k is selected. b1 =0.0005, k b2 =0.0003, k b3 =0.0002, k b4 =0.0001, k b5 =0.0001, k b6 =0.0002, k7=0.02, k8=0.01.

[0096] In step S60, k is selected. c1 =5.3, k c1 =0.2, k c3 =0.2. The final stable control voltage signal for the photoelectric guidance platform is obtained as follows: Figure 6 As shown. The platform base pitch angle signal is as follows: Figure 7 As shown, the amplitude fluctuates around 0.1. (Through...) Figure 7 and Figure 4 The comparison shows that, despite the shaking of the platform base, it was ultimately caused by... Figure 4 It can be seen that the sway of the line-of-sight angle is only about 1% of that of the platform base. And by Figure 3 and Figure 2 The comparison shows that the amplitude of the platform base's swaying angular velocity is about 50 times that of the line-of-sight angular velocity. This demonstrates that the stabilization control algorithm of the entire photoelectric guidance platform is effective; it effectively isolates the platform base's swaying, ensuring the stability of the line-of-sight angle throughout the process, thus enabling its application in precision guidance.

Claims

1. An adaptive feedforward stabilization method for a precision-guided photoelectric guidance platform, characterized in that... The following steps are required: Step S10: Install a rate gyroscope on the precision-guided electro-optical guidance platform and measure the pitch angular velocity signal of the electro-optical guidance platform, denoted as ω; simultaneously install a rate gyroscope on the base of the electro-optical guidance platform and measure the pitch angular velocity signal of the platform base, denoted as ω. b The line-of-sight angle signal of the photoelectric guidance platform is obtained by taking pictures and measuring with an IRFPA infrared camera and processing the data, denoted as q. Step S20: Based on the line-of-sight angle signal, first perform nonlinear calculation and lag processing, then perform combined integration to obtain the nonlinear combined integral signal of the line-of-sight angle; then design a nonlinear adaptive lead correction network to perform lead processing to obtain the nonlinear lead signal of the line-of-sight angle. Where q f ε is the line-of-sight angle nonlinear signal; k1, k2, k3, k4, and ε1 are constant parameter signals; q f1 The line-of-sight angle hysteresis signal is represented by T0 and T1, which are constant parameters; s1 is the line-of-sight angle nonlinear combined integral signal; k5 is a constant parameter; q f3 (n+1) is the approximate differential signal of the line-of-sight angle; c1(n) is the adaptive parameter signal of the adaptive correction network; q f2 (n+1) represents the nonlinear lead signal of the line-of-sight angle; T2, T3, k6, and k7 are constant parameters; Step S30: Based on the line-of-sight angle signal, the line-of-sight angle nonlinear combined integral signal, and the line-of-sight angle nonlinear lead signal, the platform pitch angular velocity signal is superimposed to obtain the desired platform angular velocity signal, and then the amplitude limiting process is performed to obtain the desired amplitude limiting signal of platform angular velocity. ω d =k a1 q+k a2 s1+k a3 q f2 +k a4 ω1; Where ω d The desired signal for the platform's angular velocity; k a1 k a2 k a3 k a4 ω is a constant parameter. d1 The desired amplitude limiting signal for the platform's angular velocity; sign() is the sign function; ε2 is the constant amplitude limiting parameter; Step S40: Based on the platform base pitch angular velocity signal, design a nonlinear feedforward compensation network to obtain the base nonlinear feedforward compensation signal; compare the platform angular velocity expected limiting signal with the platform pitch angular velocity signal to obtain the platform angular velocity error signal. e ω =oh-oh d1 ; Where ω b3 The nonlinear signal of the platform base pitch angle acceleration; ω b1 For the nonlinear feedforward compensation signal of the base; T4, a w For constant parameters; e ω This is the platform angular velocity error signal; Step S50: Based on the platform angular velocity error and the platform base pitch angular velocity signal, design an interference adaptive compensation signal; then, based on the platform angular velocity error signal, design a nonlinear lead correction network to obtain the angular velocity error lead correction signal. Where T w For interference adaptive compensation signal; b1, b2, b3 are interference adaptive compensation coefficients; k b1 k b2 k b3 k b4 k b5 k b6 For constant parameters, e ω3 (n+1) represents the approximate differential signal of the platform angular velocity error; c2(n) represents the adaptive parameter signal of the adaptive lead compensation network; e ω2 (n+1) is the angular velocity error lead correction signal; k7 and k8 are constant parameters; Step S60: The base nonlinear feedforward compensation signal, platform angular velocity error signal, interference adaptive compensation signal, and angular velocity error advance correction signal are superimposed to obtain the final photoelectric guidance platform stable control voltage signal, which is then sent to the torque motor to drive the photoelectric guidance platform and its load, thereby stabilizing the line-of-sight angle signal of the photoelectric guidance platform. u=T w +k c1 e ω +k c2 ω b1 +k c3 e ω2 ; Where u is the final photoelectric guidance platform stabilization control voltage signal, and k c1 k c1 k c3 These are constant control parameters.

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