光电跟踪转台伺服控制策略研究

摘要

For heavy load,big friction and high tracking accuracy requirement of the high performance opto-electronic tracking platform,the servo control strategy based on composite control was proposed.The linear quadratic optimal feedback controller with disturbance observer was designed for speed loop,and the zero phase error tracking controller (ZPETC)was added in the forward channel,which improve the tracking performance of speed loop,and position loop uses PID nonlinear feedback control mode to reduce overshoot and improve the steady accuracy;the given position in-formation of low rate is interpolated and filtered respectively,and through a high gain differentiator and Kalman predic-tive filtering,the turntable speed and acceleration are predicted and estimated to realize complex control.The experi-ments have proved that this strategy can effectively improve the tracking accuracy under high acceleration.%针对高性能光电跟踪转台负载重、摩擦大、跟踪精度要求高等特点,提出了基于复合控制的伺服控制策略,速度环路设计了带有扰动观测器的线性二次最优反馈控制器,并在前向通道增加了零相位误差跟踪控制器(ZPETC),提高速度环的跟踪性能,位置环采用非线性PID反馈控制方式降低超调,提高稳态精度;将低速率的位置给定信息分别进行插值细分和滤波,通过高增益微分器和卡尔曼预测滤波,对转台速度和加速度进行预测和估计,进行前馈实现复合控制,实践证明,这种策略可以有效提高大加速度下的跟踪精度.