航空遥感稳定平台的模型参考自适应控制

针对航空遥感惯性稳定平台中所受到的不平衡力矩等所引起的成像载荷不稳定导致无法获取高分辨率遥感数据的问题,提出了在平台控制系统中应用基于模型参考的自适应比例-积分-微分控制方法。根据需求设计出参考模型,将参考系统输出与实际系统输出之间的误差输入到自适应PID调节器,实时调整PID参数,对误差进行实时校正,以达到抑制不平衡力矩扰动、提高稳定平台稳定精度的目的。对所提出的模型参考自适应控制方法进行了仿真验证,结果表明:相对传统PID方法,模型参考自适应控制器对偏心力矩等主要干扰具有很好的抑制作用,系统输出能够很好地跟踪姿态变化,系统稳定精度得到显著提高。

Model reference adaptive control for an inertially stabilized platform in airborne remote sensing applications

Three-axis inertial stabilized platform(ISP)for airborne remote sensing is used to stabilize the image loads so that the high resolution remote sensing data can be achieved.In this paper,aim at the main disturbance caused by the unbalanced moment,an adaptive Integration-Differentiation-Proportion (PID)control method based on model reference is proposed.The reference model is designed based the requirements at firs.And then,the output errors between the reference model and the actual system are input to the adaptive PID controller to adjust PID parameters in real time.In this way,the errors is revisedin real time so as to achieve the purpose of restraining the unbalanced moment disturbance and improving the stabilization accuracy of ISP.The proposed model reference adaptive control method is validated by simulation.The results show that:compared with the classical PID controller,the proposed method has good inhibition effect to unbalanced moment disturbance,by which the system output can track the change of attitude well and stabilization accuracy of ISP system is improved significantly.