半捷联光电稳定平台误差分析与补偿研究

	半捷联光电稳定平台误差分析与补偿研究
	赵明
学位类型	博士
导师	宣明,贾宏光
	2014-07
学位授予单位	中国科学院大学
学位专业	机械制造及其自动化
摘要	由于半捷联光电稳定平台的体积小、重量轻、成本低，其已成为导引头技术的研究重点，并且对其稳定与跟踪精度的要求越来越高。本文针对某半捷联光电稳定平台，为了提高其稳定与跟踪精度，在对半捷联稳定平台运动学、动力学以及稳定机理分析的基础上，讨论了影响稳定平台精度的各项误差来源，并对误差的作用规律、误差建模、参数标定与误差补偿等问题展开了深入的分析与探讨。　　　论文首先基于李群李代数理论，结合半捷联光电稳定平台结构，采用局部指数积（Local POE）方法描述框架姿态关系，并详细讨论了弹体与稳定平台框架间的速度与加速度间的耦合关系，同时给出了光轴在惯性空间的稳定方程，讨论了两种半捷联稳定方案的优缺点。在运动学分析的基础上，运用绕动点转动的动量矩定理，建立了半捷联光电稳定平台俯仰轴与偏航轴的动力学方程，其中包含惯量耦合力矩与框架质量不平衡力矩的具体数学模型。针对半捷联导引头稳定平台，对框架最大角速度与角加速度、惯量耦合力矩以及质量不平衡力矩进行数值仿真分析，为高精度控制系统设计打下了基础。在分析半捷联光电稳定平台各项误差源的基础上，根据多体系统的运动学误差建模理论建立了光轴指向误差模型；通过Matlab计算，分析了各项误差对光轴指向误差的影响，为合理地进行误差分配以及误差补偿奠定了基础。为修正半捷联导引头的光轴静态指向误差，建立了基本参数模型与Local POE模型，并采用最小二乘法标定基本参数模型的误差参数以及设计的遗传算法标定Local POE模型的误差参数，标定实验结果表明：Local POE模型的稳定性与补偿精度均优于基本参数模型，Local POE模型可将光轴静态指向精度由119.9″提高到21.3″。最后，对半捷联导引头的框架质量不平衡力矩与静态误差进行补偿后，在搭建的半物理实验平台上测试其稳定与跟踪精度，结果表明：在系统以0.5°/s运动，弹体扰动为频率1H z、幅值2°时，其稳定精度提高了79.7%；在系统以3°/s跟踪目标时，其偏航与俯仰方向的跟踪精度分别提高了20.7%与18.9%；在弹体扰动为频率2H z、幅值1°时，测得半捷联稳定平台偏航与俯仰方向的隔离度分别为5.63%与5.08%。
其他摘要	Because of its advantages of small volume, light weight and low cost, Semi-Strapdown Photo-Electricity Stabilized Platform (SSPESP) has become an important part of seeker technology research, whose stability and tracking precision should be gradually imp roved. This dissertation mainly focused on a kind of SSPESP and improving its stability and tracking precision. Based on the analysis of the kinematics, dynamics and stability mechanism for SSPESP, this paper discussed its error sources and made a deep research on the effect rule of error, error modeling, parameter calibration and error compensation etc. Firstly, according to the theory of Lie group and Lie algebras and with the structure of SSPESP considered, a local product of exponentials (Local POE) representation of framework pose was established for SSPESP. The coupling relationships of the velocity and acceleration between the missile and the frameworks were analyzed. Following that, the stability equation of optical axis in the inertial space was established. Two different semi-strapdown stabilization methods were compared and each’s advantages and disadvantages were pointed out. Based on the kinematic analysis, the pitch and yaw dynamics models were derived according to momentum moment theorem of rigid body rotating around moving point, including the inertial coupling torque model and the mass imbalance torque model. According to stabilized platform of semi-strapdown seeker, the angular velocity and acceleration, inertial coupling torque and mass imbalance torque were analyzed by numerical simulation, which provided a fundamental for future control system design. On the basis of analysis of various error sources of SSPESP, the optical axis pointing error model was defined and set up according to the kinematics error modeling theory of multi-body system. Then, Matlab was used to simulate and analyze the influence of the errors on optical axis pointing, which lay a foundation for error allocation and compensation. In order to correct the optical axis static pointing error of SSPESP, the basic parameter model and Local POE model were established and calibrated through the least squares method and self-designed genetic algorithm respectively. The calibration experimental results indicate that the compensation accuracy and stabilization of Local POE models are superior to the basic parameter model, the optical axis static pointing precision increases from 119.9″ to 21.3″. Finally, after compensating for the ine rtial coup ling torque and static errors, the stability and tracking precision of semi-strapdown seeker were tested on the semi-physical simulation platform. The results show that, the stability precision rises 79.7% when the system speed is 0.5°/s and the missile disturbance frequency is 1Hz and amplitude is 2°; the tracking precision of yaw and pitch direction rises 20.7% and 18.9% when the tracking speed is 3°/s; the isolation of yaw and pitch framework is 5.63% and 5.08% when missile disturbance frequency is 2Hz and amplitude is 1°.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/41506
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	赵明. 半捷联光电稳定平台误差分析与补偿研究[D]. 中国科学院大学,2014.

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