Study On Control Technology For System Of ATP Based On Moving Platform

With the development of Optical-Electro devices and changes in application requirenments, more and more Optical-Electro tracking systems are ingrated in moving platform. Comparing to the fixed base of Optical-Electro systems, one of the most critical issues in Optical-Electro devices based on moving platform is how to isolate the Line of Sight(LOS) from disturbance of the carrier movement. In the standard feedback control structure, there is a coupling between disturbance rejection and tracking performance of the control system. If we want to get higher disturbance rejection ratio, we need to improve the tacking bandwith of control system. However, because of mechanical resonance and system noise etc, the tracking bandwidth of the actual Optical-Electro devices can not be increased unlimited. Meanwhile, the moving of carrier brings system additional uncertainty, which make difficult for control system design.According to the structure of gyro stabilized platform, we can derive the equation of disturbance isolation by using spatial coordinate transformation. Thus the installation of two single degree of freedom gyros is determined. In order to establishing the theoretical foundation for subsequent reach and implementation of control method, the principle of control theory for gyro stabilized platform, transfer characteristics of disturbances, mechanism modeling method and experimental modling method for uniaxial gyro stabilized platform are introduced respectively.In this paper, we introduce a new method for control system design which called Model-Based design into Optical-Electro stabilization and tracking system. In traditional control system design, we have to program manually, which costs much more time in programming. In Model-Based design method, we can compile simulink model for control system into C code which is executable and download into embeddedprocessor automatically. We establish one-dimensional stabilized platform and Optical-Electro nacelle explatform based on RTW which can compile and build simulink model into C code and download to PC/104. These platforms can make development cycle shorter and improve test efficiency.To overcome the intrinsic tradeoffs between achievable performance and disturbance rejection for control system of the electro-optical stabilization platform, improve the stabilization precision and anti-disturbance, a new control architecture called Generalized Internal Model Control Architecture(GIMC), which has a clear separation between performance and robustness, is used. In this paper, we summarize a simple and applied method to design a controller of internal feedback loop. This method could improve the order of anti-disturbance transfer function from the first-order to the second order. Simulation and experiment states clearly that the method could achieve certain performance and improve the capability of the anti-disturbance.In this paper, we propose a new method, which using H∞ mix sensitivity based on generalized internal model controller(GIMC), to design the control system of the electro-optical stabilized platform. This architecture has two parts: a high performance controller, say K0, which is designed by PI controller in this paper, and then a robustification controller, say Q, which is designed to improve the ability of the anti disturbance by using H∞ mix sensitivity controller design method. In this paper, we also present the steps of controller design by using this method to make it easier to use. Based on the proposed method, numerical simulation and experiment are both carried out for a gyro stabilized platform of electro-optical tacking system. Both the numerical simulated and the experimental results show that the electro-optical stabilized platform using the H∞ mix sensitivity controller design method based on GIMC is accurate and effective.In the experiment previously, it’s obviously that the gryo noise impacts the stabilized accuracy seriously. To solve this problem, we research filter algorithm, including Kalman filter and low-pass filter for gyro noise in this paper. First of all, we analyze the resourse of system noise. Through several groups of experimental test, it indicates that driving circuit impacts system noise seriously. Then low-pass filter and Kalman filter are introduced into the noise processing, and the result of experiments show that Klamn filter hase better affect on reducing system noise.