摘要
为减小位角控制系统中电机的摩擦非线性特性对航空相机位角控制系统像移补偿控制效果的影响,研究基于摩擦前馈的复合控制方法,实现对摩擦干扰的有效抑制。首先,分析并选用了简化的带有摩擦扰动环节的系统数学模型,选择LuGre摩擦模型描述为摩擦行为。然后,通过参数辨识的方法获得擦模型参数,在系统力矩综合点处根据力矩平衡原理设计摩擦前馈补偿通道的调节器。最后,应用该方法设计了带有摩擦前馈补偿的航空相机像移补偿复合控制器。实验结果表明:与先进PID方法进行比较,该方法改善了摩擦非线性对系统动态响应过程和速度平稳性的影响,稳态调整时间提高了34%,稳态精度提高了24%左右。
In order to reduce the effects of the image motion compensation （IMC） control from the friction nonlinear characteristic of the motor in angle control system of aerial camera,the compound control method based on friction feed-forward is researched,and the goal is to achieve the effective suppression to friction nonlinear disturbance.Firstly,the simplified mathematical model of system with friction disturbance link is analyzed and chosen.Furthermore,the friction behavior of the friction disturbance link is described by LuGre friction model.Then,the model parameters are obtained by parameter identification,and according to the principle of moment balance on the system torque comprehensive points the compensation controller of friction feed-forward channel is designed.Finally,IMC composite controller with friction feed-forward compensation by the method in the aerial camera is designed.The experimental results show that,compared with the advanced PID method,the method reforms the effects of friction nonlinearity on the system dynamic response process and speed stability,and the steady-state adjustment time is increased by 34％,steady-state precision is increased by about 24％.
出处
《电子测量与仪器学报》
CSCD
2014年第6期657-663,共7页
Journal of Electronic Measurement and Instrumentation
基金
国家"863"高科技研究发展计划(2009AA7010102)
吉林省重大科技攻关(11ZDGG001)资助项目
关键词
像移补偿
摩擦前馈
复合控制
非线性
航空相机
image motion compensation
friction feed-forward
compound control
nonlinearity
aerial camera
