摘要
为了消除基座晃动对光电平台稳定跟踪目标的影响,分析了动基座扰动抑制的原理,建立了动基座光电平台视轴稳定的控制系统模型。该系统模型通过组合惯导平台测得动基座摇摆的姿态数据,利用坐标转换公式计算出修正动基座扰动所需的光电平台速度顺馈数据,再将此速度顺馈数据送到光电平台速度回路参与动基座扰动抑制运算,实现光电平台在动基座扰动下的视轴稳定跟踪。经过某型号动基座光电平台的实际验证,设计的动基座光电平台视轴稳定系统在5级海况下可以做到电视跟踪下船摇隔离度大于59dB,单杆手动跟踪模式下船摇隔离度大于25dB。实验结果表明:设计的动基座光电平台视轴稳定系统有效地抑制了基座扰动对光电平台稳定跟踪目标的影响,提高了光电平台在基座晃动下的跟踪精度。
In order to restrain the interference of moving base to the optical-electrical table stably tracking object, the paper analyzes the theory of restraining the interference of moving base, founds the control system stabilization model of optical electrical table＇s axis of sight. The control system stabilization model gets the pose data by the combined inertial navigation system, gets the angular velocity of the moving base by the formula of coordinate transformation. Then we can realize the stably tracking object of the moving base optical-electrical table by the control system stabilization model. The optical axis self-stabilization control system in the paper, has been used in some kind of equipment. In the five sea state, we can realize 59 dB isolation accuracy when the control model is vedio tracking , realize 25 dB isolation accuracy when the control model is single bar manual tracking. The experiment proves that the control system stabilization model in this paper availably restrain the interference of moving base and the tracking precision have been greatly improved.
出处
《国外电子测量技术》
2015年第9期38-42,共5页
Foreign Electronic Measurement Technology
基金
中国科学院三期创新工程
长春光机所所内创新工程(Y10532B110)项目
关键词
光电平台
视轴自稳定
控制系统
动基座
optical-electrical table
optical axis self-stabilization
control system
moving base
