光电搜跟系统关键问题的研究

项目名称： 光电搜跟系统关键问题的研究

项目编号： No.51307089

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 电工技术

项目作者： 朱海荣

作者单位： 南通大学

项目金额： 25万元

中文摘要： 光电搜跟系统能隔离载体扰动。保持探测器视线稳定，广泛应用于惯性导航、军事侦察系统中。课题对光电搜跟系统中存在的轴系耦合、非线性摩擦等未知扰动及跟踪时延分别展开研究。将影响系统性能的各通道之间的状态耦合看成是各个通道的扰动，设计相应的观测器或估计器；针对频繁换向时由于摩擦造成的低速抖振和爬行现象，通过系统分析摩擦的影响因素，得出近似的摩擦模型，在基于该摩擦模型补偿的基础上，利用前述扰动观测器观测出摩擦的过补偿或欠补偿、系统建模误差带来的不确定性和其他未知的外界扰动，并用此观测值进行前馈补偿，形成基于反馈控制和扰动观测前馈补偿的复合控制方案，以减小系统耦合、非线性摩擦和未知扰动对系统性能的影响；针对图像跟踪器的统计特性不确定性噪声及滞后的影响，提出了一种基于两级Kalman的滤波预测补偿方法，用于改善光电搜跟系统的动态品质。最后，通过理论研究和实验验证，为研制高精度光电搜跟系统提供理论依据。

中文关键词： 广电搜跟系统；扰动观测器；摩擦补偿；终端滑模控制；时滞

英文摘要： The electro-optical search and track system can isolate the detector's line of sight (LOS) from the disturbances and vibrations of the vehicle to achieve accurate pointing, and it is widely used in inertial navigation systems,reconnaissance systems and weapon systems.The project focuses on the research of multiaxis kinematic coupling, nonlinear friction compensation and compensation of the tracker time-delay of eelectro-optical search and track system on a mobil carrier, which are the main factors affecting the performance of the system.According to the multiaxis kinematic coupling problem caused by the changing gimbal moment of inertia with the change of frame positon,a novel composite controller combine a feedback part with a feed-forward compensation part based on a disturbance observer(DOB) is presented. According to the chattering and creeping phenomenon caused by nonlinear friction because of the changing relative position of the movement carrier and the detector, a compound controller also based on a DOB is introduced. First, an approximate friction model is obtained based on the analysis of the influence factors of the system friction. Then, a friction compensation scheme based on the approximate friction model is in introduced. Finally, a DOB is introduced to estimate both states and disturbances by s

英文关键词： electro-optical search and track system；disturbance observer；friction compensation；terminal sliding mode control；time-delay