舰载自稳定光电平台控制系统研究

摘要

A triaxial self-stabilized platform vehicle disturbance compensation model was established for the control system of a new shipboard triaxial self-stabilized photoelectric platform through coordinate transformation under the specified space photoelectric orientation and specified way of photoelectric equipment installation.The model was used to compensate for the effect of the hull's rocking,rolling and pitching on the photoelectric pointing accuracy in real time.On this basis,the control system model was established.To restrain the nonlinearity at low speed and improve the pointing precision of control system,a disturbance observer was designed.Simulation results show that the disturbance observer method has a very good effect for nonlinear compensation,and the whole control system has good feasibility.%针对一种新型舰载三轴自稳定光电平台控制系统,在指定的空间光电指向和光电设备安装方式条件下,通过坐标变换,建立了一种三轴自稳定平台载体扰动补偿模型,用以实时补偿船体的艏摇、横摇、纵摇对光电指向精度的影响.在此基础上,建立了控制系统模型.为抑制控制系统的低速非线性,提高舰载自稳定系统的指向精度,设计了扰动观测器.仿真结果表明,扰动观测器方法在补偿系统非线性方面具有很好的效果,整个控制系统可行性良好.