扩张状态观测器在空间相机外场成像伺服 系统中的应用

	扩张状态观测器在空间相机外场成像伺服系统中的应用
其他题名	Application of the extended state observer in field imagingservo system of space camera
	夏冰
学位类型	硕士
导师	金龙旭
	2015-10
学位授予单位	中国科学院大学
学位专业	光学工程
关键词	大惯量伺服系统扩张状态观测器空间相机外场成像 Simulink 仿真
摘要	随着航天技术不断高速发展，空间相机外场成像伺服系统在遥感测试领域中得到了广泛的应用。空间相机外场成像伺服系统具有转动惯量大，负载变化率高等特性，对于此类系统，由于其被控对象数学模型线性化误差，转轴力矩干扰量模型难以建立，以及转台带负载后系统转动惯量难以估计等因素，使得此类系统在低速运行时，经典PID 控制器的控制性能下降，所以本文引入了扩张状态观测器，来统一提取所有外扰量，从而提高伺服系统的低速运动性能。本文主要工作就是围绕应用扩张状态观测器来提高伺服系统的低速运动性能的研究而展开的。论文首先简要介绍了伺服系统的原理，发展历史以及研究现状。然后对空间相机外场成像伺服系统进行了设计，并对执行机构和反馈装置进行了详细地介绍。其次，研究了扩张状态观测器的结构、特点以及发展历程，并详细探讨了扩张状态观测器的参数选定问题。随后分析了线性控制器的特点和缺陷，并提出了一种适用于非线性控制的增益函数fal 函数，同时分析了fal 函数的特点，然后依据 fal 函数构造了非线性反馈控制律，设计了基于扩张状态观测器的非线性控制器。文章接下来建立了被控对象、线形及非线性控制器的数学模型。并根据各单元已建立的数学模型，在simulink 工具中设计了系统整体的仿真模型。随后对扩张状态观测器进行了仿真分析，结果显示扩张状态观测器对外扰量的估计比较准确，可以被应用在此类伺服系统中。随后引入外扰，对双环线形PID、位置环线性PID+ 速度环非线性PID、位置环线性PID+带扩张状态观测器的速度环非线性PID 三种控制策略进行仿真分析，结果表明基于扩张状态观测器的控制方法在空间相机外场成像伺服系统中的控制效果，明显优于不带扩张状态观测器的线性控制方法。论文最后介绍了控制系统硬件组成单元，然后主要介绍了主控单元的设计。随后将不同控制策略移植到DSP 软件中进行试验验证。结果表明，带扩张状态观测器的伺服系统稳速精度优于1%，系统响应无超调，抗干扰性能显著提高。从而得出结论：扩张状态观测器的引入有效提高了空间相机外场成像伺服系统的整体性能。
其他摘要	With the rapid development of space technology, field imaging servo system of space camera has been widely used in the field of remote sensing. However, Due to the linear error of the mathematical model of the controlled object, the model of the disturbance of the shaft torque is difficult to establish, and the rotating inertia of the system is difficult to control and so on. It makes the control performance of the classical PID controller decreased when the field imaging servo system of the space camera works at low speed. So this paper introduces an extended state observer to extract all external disturbances to improve the low speed performance of the servo system. The main work of this paper is to improve low speed performance of the servo system by using extended state observer. Firstly, the paper introduces the principle, development history and research status of servo system. Then, the servo system of the space camera was designed, and the implementation mechanism and the feedback device were introduced in detail. Secondly, the structure, characteristics and development of the extended state observer were studied, and parameter selection of the extended state observer was discussed in detail. Then the characteristics and defects of the linear controller were analyzed, and a gain function---fal function which applies to nonlinear control was proposed. At the same time, analyzing the characteristics of fal function, a nonlinear controller based on extended state observer is designed. Next the mathematical model of the controlled object, linear and nonlinear controller was established. And according to the mathematical model of each unit, the simulation model of the whole system was designed in the Simulink. Subsequently, the extended state observer was simulated and analyzed, The results show that the estimation of the extended state observer was more accurate and can be used in the servo system. Subsequently, three control strategies, position loop linear PID + speeding loop linear PID, position loop linear PID + speeding loop nonlinear PID and position loop linear PID + speeding loop nonlinear PID with ESO, are simulated when external disturbances were taken into account. The results show that the control method based on the extended state observer was better than the linear control method which was without the extended state observer. In the end of the paper, the hardware of the control system is introduced, and mainly introduces the design of the main control unit.Then the different control strategies were transplanted into the DSP software to verify the experiment.The results show that the stability of servo system with the extended state observer is better than 1%, and the system response has no overshoot, and the anti - jamming performance is significantly improved.It is concluded that the introduction of the extended state observer can effectively improve the overall performance of the space camera servo system.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/49336
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	夏冰. 扩张状态观测器在空间相机外场成像伺服系统中的应用[D]. 中国科学院大学,2015.

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