| Taking “The Airborne High Precision Stabilized Line-of-Sight System” as the research object,the problem needed to solve in this thesis is to analysis the characters of small inertia stabilized Line-of-Sight system and design control laws to compensate the friction and improve the accuracy of stabilization.The basics of how the stabilized line-of-sight system works is given.In order to analysis the action of mechanism of the friction,the model of the single axis stabilization based on the research object is established and the system correction is finished.Then the reason why the friction has a significant impact on the small inertia Line-of-Sight system is expounded and the simplified friction model is built based on the Stribeck friction model.The approach the thesis adopts to improve the disturbance rejection performance is compensating the disturbance by observer.The disturbance rejection performance and noise coupling performance under different observer gain is compared by the simulation analysis.Meanwhile,Kalman filter is applied to reduce velocity noise.Signal adjust circuit is designed and the system is established.The algorithm coding is written.In the course of Matlab simulation,the application of disturbance observer improves the stabilization performance.Then,it is applied to the airborne high precision Line-of Sight stabilization system.The experiment result shows that the algorithm can improve the stabilization accuracy from 500?rad to 300?rad. |
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