基于LuGre模型的航空光电稳定平台的摩擦力矩补偿

摘要

In order to reduce the impact of friction on the boresight accuracy of aerial photoelectric stabilized platform, the model of friction compensation based on the LuGre was put forward.Firstly, the model of velocity loop was got by mechanism analysis, and then got control voltage which equivalent with friction model.Secondly, experiments and genetic algorithm were used to determine the identification of friction compensation model, the accuracy of the friction model was verified by simulation experiments.Finally, the friction compensation model was tested and verified by experiments on the aerial photoelectric stabilized platform.The results show friction compensation based on LuGre model can overcome the stick-slip phenomenon.When the frequency of disturbance was within 2.5 Hz, friction compensation can reduce the disturbance 10.99 dB at least, and the best isolation degree of disturbance was 16.90 dB.So friction compensation based on LuGre model satisfies the performance requirements of aerial photoelectrical stabilized platform.%为降低摩擦对航空光电稳定平台视轴精度的影响,提出了一种基于LuGre模型的摩擦力补偿方法.首先,对某型光电稳定平台进行分析并建立模型;然后,参数辨识确定摩擦补偿模型;并通过仿真实验验证了摩擦模型的准确性;最后,将摩擦补偿模型应用到光电稳定平台上进行实验.实验结果表明,当平台以1°,1 Hz的正弦运动时,采用基于LuGre模型的摩擦补偿后,系统在低速时出现爬行现象明显减弱.在模拟飞行转台中以2.5 Hz以内任意频率正弦扰动的作用下,加入摩擦补偿后系统的扰动隔离度至少提高了10.99 dB,最优情况已经达到16.90 dB,满足高精度光电稳定平台的性能要求.