水面武器操瞄系统稳定平台姿态测量及控制技术研究
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摘要
水面载体在工作过程中,容易受到风浪流的作用而产生摇摆运动。被动隔振器可以消弱载体的高频低幅振动,但对低频摇摆运动的作用不是很明显,因此文中提出使用稳定平台技术来保证安装于水面载体之上的武器操瞄系统的稳定。稳定平台是指能够使被稳定对象在外部干扰作用下相对惯性空间保持方位不变,或在指令力矩作用下能按给定规律相对惯性空间转动的装置。论文针对两轴并联式稳定平台,从误差作用机理、姿态测量以及控制策略角度出发进行研究,旨在开发一种动态及时性好、抗干扰能力强、适用于水面武器装备的稳定平台系统。
首先描述了水面武器稳定操瞄系统的总体结构,对操瞄系统和稳定平台的工作模式进行了介绍。稳定平台是一种高精度机电一体化设备,精度影响因素较多,文中对这些误差源进行了分类总结,并对其中几个影响较大、较难抑制的误差源进行了详细讨论。稳定操瞄系统中,数字磁罗盘和姿态航向参考系统(AHRS)分别被用来反馈操瞄系统和稳定平台的状态信息。磁罗盘的输出容易受到磁环境影响,文中研究了一种最小二乘法粗校、BP网络补偿法精校两步走的磁罗盘误差组合补偿方法。针对AHRS中的微机械陀螺仪,在使用Singer模型直接对陀螺信号建模的基础上,提出一种基于交互式多模型的陀螺信号处理方法。
PIOGRAM图法在表达多坐标系旋转关系时具有简单直观的特点,文章借助于PIOGRAM图得到了稳定平台各坐标系间的转换关系,并在此基础上完成了平台执行机构运动学分析及隔离扰动原理的研究。为实现平台高精度控制,建立了电流环、速度环和位置环的三环控制结构。在速度稳定环中引入了干扰观测器,研究表明经典干扰观测器可较好地抑制低频扰动,但对高频测量噪声及模型摄动的抑制效果不是很理想。针对这个问题,提出了一种改进型干扰观测器,该改进型干扰观测器主要通过在反馈通道中,引入另一信号来补偿系统输出反馈。位置跟踪环中,设计了一个基于扰动的前馈——反馈复合控制器。其中,反馈通道使用灰色预测控制以解决系统时滞环节的影响,并详细分析了灰色预测步长的临界条件,在此基础上给出了一种步长自调节的灰色预测控制方法。前馈通道中,研究了载体干扰姿态的预测方法。在对姿态序列进行混沌特性判定的基础上,使用残差GM(1,1)模型在重构相空间中研究了重构相点L1范数的演变规律,在得到范数预测值后通过反解L1范数可得出原姿态时间序列的预测值。最后,通过数值仿真和实验相结合的方式对论文提出的理论和方法进行了验证,表明所设计的平台系统是有效的、可行的。
Water-borne carriers are easy to be influenced by wind waves when operating on the water. Passive isolator can reduce the effects of high-frequency and low-amplitude vibration, but is not so good to low-frequency swing. Hence stabilized platform technology is proposed to guarantee the stabilization of shipborne weapon aiming systems in the dissertation. Stabilized platform is the device which can keep the stabilized objects in a stable attitude under the actions of external disturbances, or make the stabilized objects work following the given orders in inertial space. The dissertation focuses on the two-axis parallel platform, studies the effect rules of error sources, attitude measurement and intelligent control, means to develop a shipborne stabilized platform which has the characteristics of quick reaction and strong anti-disturbance capability.
The overall structure of shipborne stabilized aiming system is described firstly, the working modes of aiming system and stabilized platform are introduced meanwhile. Stabilized platform is a high precision equipment which composes of mechanism and electronics, and the precision influencing factors are numerous. In the dissertation, error sources are sorted and some hard unquenchable ones are dicussed in detail. In the stabilized aiming system, digital magnetoresistive compass and Attitude and Heading Reference System (AHRS) are used to feed back the states of aiming system and stabilized platform respectively. Outputs of digital magnetoresistive compass are easy to be influenced by magnetic environment. To solve the problem, a two-step integrated compensation method is proposed which uses least squared method to compensate firstly and uses BP network method to compensate the remaining errors. For micro-mechanical gyro in AHRS, Singer model is applied in direct modeling of gyro signal, and a gyro signal filtering method based on Interacting Multiple Models (IMM) is proposed.
The PIOGRAM diagram method can describe coordinate conversion simply and intuitively. With PIOGRAM diagram, conversion relationships of different coordinate systems are established, and kinematics analysis of executive mechanism and disturbance-isolation theory analysis are finished. To realize high precision control, the three-loop control structure of stabilized platform which includes current loop, speed loop and position loop is modeled. Disturbance Observer (DOB) is applied in the speed stabilization loop, the dissertation indicates that classical DOB can suppress external disturbance well, but has non-ideal performances of suppressing measurement noise and model perturbation. In view of the problems, a novel improved DOB is proposed which uses an additional control signal to compensate system outputs in feedback channel. In the position tracking loop, a compound controller combined with feedback and disturbance forward is designed, and Grey Prediction Control method is used in feedback channel to reduce the influence of delay link. The critical qualification of grey prediction step is discussed in detail, and a grey prediction controller with variable steps is designed. In forward channel, the prediction method of carrier motion attitude is studied. After finishing the chaos identification of attitude series, the L1norm change laws of reconstructed phase points are studied with residual GM(1,1) model, and predicted values of time series are obtained with L1norm inverse solution. In the end, the theories and technologies discussed in this dissertation are tested with numerical simulations and experiments, results indicate that the designed platform system is feasible.
首先描述了水面武器稳定操瞄系统的总体结构,对操瞄系统和稳定平台的工作模式进行了介绍。稳定平台是一种高精度机电一体化设备,精度影响因素较多,文中对这些误差源进行了分类总结,并对其中几个影响较大、较难抑制的误差源进行了详细讨论。稳定操瞄系统中,数字磁罗盘和姿态航向参考系统(AHRS)分别被用来反馈操瞄系统和稳定平台的状态信息。磁罗盘的输出容易受到磁环境影响,文中研究了一种最小二乘法粗校、BP网络补偿法精校两步走的磁罗盘误差组合补偿方法。针对AHRS中的微机械陀螺仪,在使用Singer模型直接对陀螺信号建模的基础上,提出一种基于交互式多模型的陀螺信号处理方法。
PIOGRAM图法在表达多坐标系旋转关系时具有简单直观的特点,文章借助于PIOGRAM图得到了稳定平台各坐标系间的转换关系,并在此基础上完成了平台执行机构运动学分析及隔离扰动原理的研究。为实现平台高精度控制,建立了电流环、速度环和位置环的三环控制结构。在速度稳定环中引入了干扰观测器,研究表明经典干扰观测器可较好地抑制低频扰动,但对高频测量噪声及模型摄动的抑制效果不是很理想。针对这个问题,提出了一种改进型干扰观测器,该改进型干扰观测器主要通过在反馈通道中,引入另一信号来补偿系统输出反馈。位置跟踪环中,设计了一个基于扰动的前馈——反馈复合控制器。其中,反馈通道使用灰色预测控制以解决系统时滞环节的影响,并详细分析了灰色预测步长的临界条件,在此基础上给出了一种步长自调节的灰色预测控制方法。前馈通道中,研究了载体干扰姿态的预测方法。在对姿态序列进行混沌特性判定的基础上,使用残差GM(1,1)模型在重构相空间中研究了重构相点L1范数的演变规律,在得到范数预测值后通过反解L1范数可得出原姿态时间序列的预测值。最后,通过数值仿真和实验相结合的方式对论文提出的理论和方法进行了验证,表明所设计的平台系统是有效的、可行的。
Water-borne carriers are easy to be influenced by wind waves when operating on the water. Passive isolator can reduce the effects of high-frequency and low-amplitude vibration, but is not so good to low-frequency swing. Hence stabilized platform technology is proposed to guarantee the stabilization of shipborne weapon aiming systems in the dissertation. Stabilized platform is the device which can keep the stabilized objects in a stable attitude under the actions of external disturbances, or make the stabilized objects work following the given orders in inertial space. The dissertation focuses on the two-axis parallel platform, studies the effect rules of error sources, attitude measurement and intelligent control, means to develop a shipborne stabilized platform which has the characteristics of quick reaction and strong anti-disturbance capability.
The overall structure of shipborne stabilized aiming system is described firstly, the working modes of aiming system and stabilized platform are introduced meanwhile. Stabilized platform is a high precision equipment which composes of mechanism and electronics, and the precision influencing factors are numerous. In the dissertation, error sources are sorted and some hard unquenchable ones are dicussed in detail. In the stabilized aiming system, digital magnetoresistive compass and Attitude and Heading Reference System (AHRS) are used to feed back the states of aiming system and stabilized platform respectively. Outputs of digital magnetoresistive compass are easy to be influenced by magnetic environment. To solve the problem, a two-step integrated compensation method is proposed which uses least squared method to compensate firstly and uses BP network method to compensate the remaining errors. For micro-mechanical gyro in AHRS, Singer model is applied in direct modeling of gyro signal, and a gyro signal filtering method based on Interacting Multiple Models (IMM) is proposed.
The PIOGRAM diagram method can describe coordinate conversion simply and intuitively. With PIOGRAM diagram, conversion relationships of different coordinate systems are established, and kinematics analysis of executive mechanism and disturbance-isolation theory analysis are finished. To realize high precision control, the three-loop control structure of stabilized platform which includes current loop, speed loop and position loop is modeled. Disturbance Observer (DOB) is applied in the speed stabilization loop, the dissertation indicates that classical DOB can suppress external disturbance well, but has non-ideal performances of suppressing measurement noise and model perturbation. In view of the problems, a novel improved DOB is proposed which uses an additional control signal to compensate system outputs in feedback channel. In the position tracking loop, a compound controller combined with feedback and disturbance forward is designed, and Grey Prediction Control method is used in feedback channel to reduce the influence of delay link. The critical qualification of grey prediction step is discussed in detail, and a grey prediction controller with variable steps is designed. In forward channel, the prediction method of carrier motion attitude is studied. After finishing the chaos identification of attitude series, the L1norm change laws of reconstructed phase points are studied with residual GM(1,1) model, and predicted values of time series are obtained with L1norm inverse solution. In the end, the theories and technologies discussed in this dissertation are tested with numerical simulations and experiments, results indicate that the designed platform system is feasible.
引文
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