多源扰动下大负载航空遥感惯性稳定平台高精度高稳定度控制方法研究

Inertial stabilization platform(ISP) is an indispensable key equipment in an high resolution aerial remote sensing system, which is used for isolating actively and in real-time the effects of internal and external disturbances of flying carrier on remote sensing loads to improve the quality of image. Since the composite effects of internal and external multi-source disturbances on flying carrier, e.g., engine vibration, atmospheric turbulence, flurry, etc., the movement of the flying platform is really a random motion with characteristics of complex, multimode and high order, which causes the moving image quality degenerate and even mapping difficult. Therefore, in an aerial remote sensing system, it is crucial for ISP to have both performances of high real-time control precision and stability precision. The control methodology with high stability and precision under multi-source disturbances is the foundation of ISP if it could to be successfully applied. This project aims at the forefront of the development of high resolution aerial remote sensing technology, it will firstly establish the system model of aerial remote sensing inertially stabilized platform based on the complex environments of flying carrier; by model, it will reveal the effecting rule and mechanism of external as well as internal disturbance on control precision of ISP, such as coupling, large angle, high dynamic and friction, deadzone, saturation and so on; and then, the adaptive controlling methodology with high stability precision for ISP supporting heavy load under multi-source disturbance environment will be put forward by synthetically utilizing multi-methods, including interference estimation, suppression and compensation, robust stability and H∞ control, etc., which is of strong robustness, high reliability and high immunity. Finally, the proposed methods will be validated and optimized through the flying simulation experiments, including swaying platform simulation and vehicle simulation. Research work can provide the theory basis for promoting the development of remote sensing technology and national economy in china.

惯性稳定平台是高分辨航空遥感系统中不可或缺的核心设备，用于隔离载机内外扰动对载荷影响，提高成像质量。受机载平台内（发动机振动等）、外（大气湍流、阵风等）多源扰动影响，载机平台实际为复杂多模高阶随机运动，导致运动成像质量退化甚至难以拼图。因此，航空遥感惯性稳定平台需要具有高的实时控制精度和稳定精度。本项目瞄准高分辨率航空遥感的发展前沿，研究机载多源扰动下大负载惯性稳定平台高精度高稳定度控制方法。提出综合利用干扰估计、补偿与抑制、鲁棒稳定与H∞控制等方法建立复杂环境下（考虑扰动与摄动）惯性稳定平台系统动力学模型和控制模型；揭示耦合、大偏角、高动态等外部扰动和摩擦、死区、饱和等内部扰动对平台控制精度的影响及其机理；提出强鲁棒性、高可靠性和高抗扰性的大负载惯性稳定平台高精度高稳定度自适应控制方法；最后通过转台和车载实验对方法进行验证和优化。研究工作为推动我国对航空遥感技术和国民经济的发展提供基础。

高精度惯性稳定平台负责支撑并稳定载荷，可有效地隔离空中各种干扰力矩对遥感载荷视轴稳定的影响。目前，我国航空遥感系统受高精度惯性稳定平台等通用载荷技术的限制，难以进一步提高成像分辨率与精度。本项目围绕高精度航空遥感成像对高精度惯性稳定平台的迫切需求，开展多源扰动下大负载航空遥感惯性稳定平台高精度高稳定度控制方法研究。首先，针对内外多源扰动和不确定性扰动，建立复杂环境下稳定平台系统的动力学模型以及控制系统模型；在此基础上，研究气流扰动、机体振动、平台多轴耦合及摩擦干扰力矩等对稳定平台系统性能的影响，为多源扰动下稳定平台稳定度分析、误差建模及扰动补偿方法研究提供理论依据；其次，研究机载多源扰动下大负载惯性稳定平台高精度控制方法：针对质量不平衡、摩擦等主要干扰力矩，提出了基于角加速度的干扰观测器以此补偿扰动；针对非线性不确定性因素、轴系摩擦及框架耦合及参数摄动提出了基于干扰观测器的复合算法；针对框架间的动力学耦合问题，提出解耦控制方法对耦合力矩进行补偿，提高控制精度。接着，研究机载多源扰动下大负载惯性稳定平台高稳定度控制方法：提出复合模糊控制方法，实现惯性稳定平台高抗扰能力和高稳定性；提出复合自抗扰控制方法，解决系统的非线性、强耦合等问题，实现了系统的动态性能的提高和鲁棒性；提出复合鲁棒 H∞控制方法，解决不确定性系统中的强鲁棒性和具有不确定性的鲁棒稳定性问题，实现了平台框架系统的稳定性能和动态性能的提高。最后，为验证所提方法的正确性和优化参数，开展实验验证研究。包括静基座、动基座、跑车及集成飞行，实验对象包括两轴、三轴及磁悬浮等多种自主研制大负载惯性稳定平台产品。本项目共发表论27篇，其中SCI收录10篇，授权专利7项，获得教育部技术发明一等奖1项。所提出的大负载能力惯性稳定平台高精度高稳定度控制方法及发明专利，已应用于多种稳定平台的研制，填补了国内在该领域空白。