基于载体姿态测量的微伺服吊舱

针对微小型无人机光电吊舱对光轴稳定与目标跟踪的需求,研究了一种基于载体姿态测量的光学平台稳定技术.该技术利用吊舱基座上的速率陀螺测量机体三轴姿态运动,通过控制光学平台的俯仰和偏航两通道伺服系统实现对光轴的惯性空间稳定.该系统使用步进电机来当执行机构,根据步进电机的特性,可以推导得到控制量与转速的关系,由此省去了在一般捷联稳定技术中的微分测速环节,得出了一种新的基于前馈控制的不变性原理.设计了解耦指令分配算法,将一个两轴耦合系统,转换为两个独立的单轴系统.在单轴控制中,分别设计了比例控制及比例积分控制算法实现对光轴的稳定控制和跟踪.最后通过在Matlab/Simulink环境下的仿真,以及实际的摇摆台试验,证明了基于载体姿态测量的稳定技术能够实现微小型无人机光电吊舱的光轴稳定.

The Micro Servo Pod Based on the Carrier's Attitude Measurement

A pitch/yaw semi-strapdown optical platform stabilization technology based on stepper motor has been proposed to meet the demand of optical axis stability and target tracking on micro UAV pod. The tri-axial attitude motion of aircraft can be measured by the inertial device on the foundation bed of pod. The optical axis inertial space stability can be achieved by controlling the optical platform pitch and yaw servo system. The system uses stepper motor as actuator. According to the features of stepper motor, this essay deducts the relationship between the rolling rate and controlling variable. Therefore, cutting out the differential speed link in the usual strapdown stabilization technique, we can draw a new theory about immutability based on feedforward control. The design of decoupled instruction allocation makes a two-axis coupling system into two independent single axis systems. In the single axis control, the essay design proportional control and proportional integral control algorithm respectively to achieve the control and tracking stability of optical axis. Finally, the simulation in Matlab/Simulink and the experiment of vacillation demonstrate the stabilization technique based on attitude measurement can achieve the optical axis stability of micro UAV pod