Research On Perturbation Suppression Strategy Of Optoelectronic Stabilized Platform In The Context Of Multi-source Interference

The optoelectronic stabilized platform is a kind of advanced precision equipment.It carries high-precision photoelectric load,stabilizes the visual axis of the optical detection equipment through isolating multi-source disturbances,and obtains clear images to complete the goal of real-time tracking of target object.In the complex and changeable working environment,various external disturbances seriously reduce the stability accuracy and tracking accuracy of the platform system.Therefore,it is of practical significance to study the disturbance suppression strategy to improve the anti-disturbance ability and target tracking performance of the platform.At present,the optoelectronic stabilized platform is widely applied in aerial,terrestrial and coastal areas to realize the monitoring and tracking of target objects and to obtain highresolution images.In this paper,a two-axis four-frame optoelectronic stabilized platform is selected as the research object,and the disturbance suppression algorithm is deeply studied,so that the control performance of the platform system can be significantly improved.Therefore,this paper will start the analysis from the following contents.Firstly,the system composition is analyzed and mathematical model of the optoelectronic stabilized platform is established.The system composition and frame structure of the platform are summarized and the main disturbance factors affecting the stability of the line of sight are studied.The operating mode of the platform and the control principle of each closed loop loop are analyzed.Based on these mathematical models of the system components,the mathematical model of the velocity stabilization loop of the platform is established.Secondly,the friction torque compensation is performed for the friction torque disturbance suffered by the optoelectronic stabilized platform.Through specific analysis of different static and dynamic friction models,the Lu Gre friction model is selected as the friction model of the system and the parameters of the Lu Gre model are identified.On this basis,a PID-based friction feedforward compensation control strategy is proposed.Simulation of this control method in the Simulink environment shows that this control strategy has a good ability to suppress friction torque disturbances.Thirdly,the active disturbance rejection control algorithm is studied.Aiming at the problem of numerous adjustable parameters of the active disturbance rejection controller,the parameters suitable for the system are selected through simulation experiments,and the parameters of the active disturbance rejection control are adjusted using the approximation principle of the RBF neural network.Combined with the friction compensation strategy,an active disturbance rejection controller with Lu Gre friction feedforward compensation is proposed.The simulation results show that the proposed control strategy has good antiinterference performance and target tracking ability under the condition of nonlinear friction and external torque interference.Finally,the experimental device of the two-axis and four-frame optoelectronic stabilized platform is developed and the performance of the control system is tested.The overall design scheme of the control system and the main experimental devices used in this paper are introduced,and the hardware components are selected and analyzed one by one to complete the design of the hardware circuit of the control system..The stability accuracy experiment and target tracking experiment of the optoelectronic stabilized platform system are carried out on the experimental device,and the experimental results prove the effectiveness and the ability of suppressing multi-source disturbance of the controller designed in this paper.