| 光电平台角位置信息摩擦观测补偿技术 |
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| 引用本文： | 于洋,张红刚,高军科,王建刚.光电平台角位置信息摩擦观测补偿技术[J].红外与激光工程,2022,51(5):20210557-1-20210557-8. |
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| 作者姓名： | 于洋 张红刚 高军科 王建刚 |
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| 作者单位： | 1.光电控制技术重点实验室，河南 洛阳 471000 |
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| 摘 要： | 为了提高光电伺服稳定平台的稳像精度，根据平台所受摩擦扰动作用原理，提出一种基于机构运行角位置信息的摩擦观测补偿方法。首先，建立光电伺服平台精确控制模型，并运用LuGre摩擦模型对平台所受摩擦力矩进行分析；然后，基于机构运行的角位置信息，采用最小二乘法进行加速度估计，设计基于机构运行角位置信息的扰动观测器进行摩擦观测补偿；最后，在Matlab/simulink中建立系统仿真平台，进行仿真及实验验证。将稳定平台安装于模拟转台上进行实验，给转台施加10 Hz正弦信号，对平台摩擦观测补偿前后的实验数据进行对比分析，实验结果表明，该补偿方案在模拟飞行转台以10 Hz频率做正弦运动的情况下，摩擦观测补偿前后，平台稳像精度由26 μrad减小到17 μrad，性能提升34.6%，该方法可以有效增强系统的抗干扰能力，提高系统稳定性能。
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| 关 键 词： | 角位置信息 摩擦力矩 加速度估计 摩擦观测补偿 |
| 收稿时间： | 2021-08-10 |
Friction observation compensation technology based on angular position information of photoelectric platform |
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| Affiliation: | 1.Science and Technology on Electro-Optic Control Laboratory, Luoyang 471000, China2.Luoyang Institute of Electro-Optical Equipment, Aviation Industry Corporation of China, Luoyang 471000, China |
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| Abstract: | In order to improve the image stability accuracy of the photoelectric servo stabilization platform, a compensation method of friction observation based on the running angle position information of the mechanism was proposed according to the principle of friction disturbance on the platform. Firstly, the precise control model of the photoelectric servo platform was established, and the friction torque of the platform was analyzed by using LuGre friction model, and then, the acceleration was estimated by the least square method based on the angular position information of the mechanism, and a disturbance observer based on the angular position information of the mechanism was designed to compensate the friction observation. Finally, the system simulation platform was established to perform simulation and experimental verification in Matlab/simulink. During the experiment, the mirror mechanism was installed on the simulation turntable, and a 10 Hz sinusoidal signal was applied to the turntable to compare and analyze the before/after experimental data of friction observation compensation. The experimental results show that when the simulation flight turntable moves sinusoidal at 10 Hz frequency, at friction observation of the before/after compensation, the image stabilization accuracy of the platform is reduced form 26 μrad to 17 μrad, and the performance is improved by 34.6%. This method can effectively enhance the anti-interference ability of the system, and improve the stability of the system. |
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