摘要
针对高精度光电稳定平台系统的跟踪精度易受到摩擦力矩和非线性干扰等因素的影响,运用加性分解理论将光电稳定平台系统分解为主系统和辅系统。主系统采用基于加速度的分数阶PID控制方法,确保视轴的跟踪精度。针对辅系统提出了基于速度信号的分数阶干扰观测器(FO-VDOB)的设计方法,利用分数阶的阶次能够在实数范围内任意选取的特点,可以更好地解决干扰抑制和估计补偿,保证视轴的稳定。结合分数阶理论设计分数阶滑模补偿器,在辅系统中进一步补偿未知的干扰。利用有限时间收敛理论和李雅普诺夫理论证明了系统在有限时间内达到了稳定。实验结果表明,该方法使得光电稳定平台系统对运动目标具有很高的跟踪精度。
The tracking accuracy of high-precision photoelectric stability platform system is susceptible to friction torque and nonlinear interference.The additive decomposition theory is used to decompose the photoelectric stability platform system into the main system and the auxiliary system.An acceleration-based fractional-order PID control method is adopted for the main system to ensure the tracking accuracy of the visual axis.To the auxiliary system a design method of fractional-order disturbance observer based on velocity signal is proposed.By using the characteristics that the fractional-order can be arbitrarily selected within the real number field interference suppression and estimation compensation can be better solved to ensure the stability of the visual axis.A fractional-order sliding mode compensator is designed based on the fractional-order theory to further compensate for the unknown interference in the auxiliary system.The finite time convergence theory and the Lyapunov theory are used to prove that the system can achieve stability in a finite time.The experimental results show that by using the method the photoelectric stability platform system has high tracking accuracy for moving targets.
作者
杨建文
任彦
YANG Jianwen;REN Yan(School of Information Engineering Inner Mongolia University of Science and Technology,Baotou 014010 China)
出处
《电光与控制》
CSCD
北大核心
2020年第1期73-78,共6页
Electronics Optics & Control
基金
国家自然科学基金(61563041)
内蒙古自治区自然科学基金资助项目(2019MS06002)
关键词
稳定平台
加性分解
分数阶控制
滑模控制
干扰补偿
stable platform
additive decomposition
fractional-order control
sliding mode control
disturbance compensation
