| 卡尔曼滤波器在抑制力矩扰动中的应用 |
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| 引用本文： | 刘磊,沈宏海,张葆.卡尔曼滤波器在抑制力矩扰动中的应用[J].红外与激光工程,2014,43(7):2240-2244. |
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| 作者姓名： | 刘磊 沈宏海 张葆 |
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| 作者单位： | 1.中国科学院长春光学精密机械与物理研究所中国科学院航空光学成像与测量重点实验室,吉林长春 130033; |
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| 基金项目： | 国家863计划(2008AA121803);国家973计划(2009CB72400102A) |
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| 摘 要： | 在光电稳定平台中，摩擦力矩以及探测器制冷机扰动力矩都是影响平台稳定精度的主要扰动源之一。为了克服经典控制方法对机载光电稳定平台探测器制冷机扰动力矩和轴系摩擦力矩抑制能力的不足，在机载光电稳定平台中引入卡尔曼滤波器算法，其作用在于用递推算法将系统及随机测量噪声滤掉。仿真结果表明，采用此方法可以有效抑制轴系力矩扰动。与普通PID 校正算法相比，采用卡尔曼滤波器闭环校正算法的调速精度由40%提高到优于1%。达到了提高稳定精度，克服噪声干扰的目的。
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| 关 键 词： | 卡尔曼滤波器 摩擦力矩 光电稳定平台 稳定精度 |
| 收稿时间： | 2013-11-12 |
Application of Kalman filter in suppressing torque disturbance |
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| Affiliation: | 1.Key Laboratory of Airborne Optical Imaging and Measurement,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;2.University of Chinese Academy of Sciences,Beijing 100049,China |
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| Abstract: | In O-E stabilization turret, the stirling cooler's disturbance and axis's friction torque are both the main disturbance. Considering the traditional control methods are insufficient to restrain the above two kinds of disturbance, Kalman filter algorithm was introduced to the photoelectric stabilized turret in this paper, its role was to use the recursive algorithm to filter the system and random measurement noise. The simulation results prove it effective. Compared with the classic PID regulator, the regulator based Kalman filter can improve the stable precision from 40% to 1%. The goals to improve the stability and to overcome the noise interference are realized. |
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