摘要
大负载对舰载光电平台主要有两个方面的影响:一是谐振频率降低,系统频带变窄;二是扰动力矩增大。要保证稳定精度,需要提高系统的力矩刚度,同时对扰动进行补偿。本文提出在以测速机构成的速度闭环中加入电流环,同时用陀螺进行角速度前馈,用扰动观测器对扰动力矩进行补偿的方法。理论和仿真结果表明:电流环能够提高系统的力矩刚度,陀螺前馈加强了对船摇扰动的隔离,扰动观测器能够很好地补偿扰动力矩的作用。这种方法使稳定精度提高了1个数量级,对工程实践具有一定的指导意义。
Heavy load has two main impacts on the shipbome optical-electric platform. The first one is the decrease of the resonance frequency, narrowing the bandwith of the system, and the second one is the increase of the disturbance. To ensure the precision of stabilization, it needs to improve the torque rigidity of the system and compensate the disturbance. A method is proposed which adds the current loop into the closed speed loop formed by the tachometer, and uses the gyro to get the feedforward compensation of the angular speed, and uses an observer to restrain the disturbance. The theory and simulation results demonstrate that the current loop can enlarge the torque rigidity of the system, the gyro feedforward can improve the isolation of the ship-sway, and the disturbance observer can greatly compensate the disturbance, The method enhances one magnitude for the stability, and provides an instruction for the engineering practice.
出处
《光电工程》
CAS
CSCD
北大核心
2011年第1期28-33,共6页
Opto-Electronic Engineering
基金
"十一五"科研资助项目
关键词
大负载
谐振频率
力矩刚度
电流环
陀螺前馈
扰动观测器
heavy load
resonance frequency
torque rigidity
current loop
gyro feedforward
disturbance observer
