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氦气球光电吊舱视轴稳定系统的不完全微分PID控制及仿真

发表时间:2015-09-30  浏览量:1338  下载量:309
全部作者: 薛远,张青川,程腾,高杰,吴世民,王义海
作者单位: 中国科学技术大学近代力学学院;昆山光微电子有限公司
摘 要: 基于氦气球俯仰及横滚幅度较小的运动特点,设计两轴结构的陀螺稳定吊舱。建立合适的数学模型,通过比较分析,得到影响视轴稳定精度的主要因素是扰动力矩中的摩擦力矩。通过系统辨识整定一些重要参数后,深入分析摩擦力矩影响稳定精度的原理,理论表明,在不考虑其他因素的影响下,代表稳定精度的偏差角与积分项的系数成反比。通过增加带有有限滤波响应(finite impulse response,FIR)滤波器的微分项,即不完全微分,实现了加速度补偿,提高了积分项系数,从而提高了稳定精度。经过Simulink仿真并实验验证,采用不完全微分的PID控制,与PI控制相比,可提高稳定精度50%.
关 键 词: 自动控制技术;视轴稳定系统;PID控制;稳定精度
Title: Incomplete PID control of the line of sight stabilization system based of helium balloon
Author: XUE Yuan, ZHANG Qingchuan, CHENG Teng, GAO Jie, WU Shimin, WANG Yihai
Organization: School of Modern Mechnaics, University of Science and Technology of China; Kunshan Microoptic Electronic Co. Ltd.
Abstract: A two-shaft Gyro stabilized pod control system is designed on a helium balloon, based on the movement characteristics that the helium balloon has a small pitch and roll amplitude. A proper mathematic model is established to describe the system. Through a comparative analysis, the main factor affected the accuracy of line of sight stabilization control system is friction torque. After tuning some important parameters through system identification, we do an in-depth analysis about how the friction torque affects the stabilization precision. Theory suggests that, without considering other factors, the integral coefficient is inversely proportional to the deviation angle which represents stabilization precision. We realize a compensated acceleration by adding a differential term with a finite impulse responsec (FIR) filter, namely incomplete differential, by which the integral coefficient is improved as the same as the stabilization precision. Through the simulation of Simulink and experimental validation, using incomplete differential PID control, compared with PI control, stabilization precision can be improved by 50%.
Key words: automatic control technology; line of sight stabilization system; PID contorl; stabilization precision
发表期数: 2015年9月第18期
引用格式: 薛远,张青川,程腾,等. 氦气球光电吊舱视轴稳定系统的不完全微分PID控制及仿真[J]. 中国科技论文在线精品论文,2015,8(18):1924-1933.
 
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