机载光电平台能够实时获取侦察测量信息,通过设计惯性稳定系统隔离载体运动以减小光学传感器视轴的抖动.对于采用整体稳定方式的光电平台,环架轴系间的摩擦是影响视轴稳定精度的主要扰动因素.考虑摩擦力矩由LuGre动态摩擦模型描述,针对动态摩擦参数和系统负载特性未知的情况,为惯性稳定回路设计了一种模型参考自适应摩擦补偿控制器.通过类李雅普诺夫分析证明了闭环系统跟踪误差的渐近收敛性.仿真结果显示,相比采用传统的比例积分惯性稳定控制器,光电平台系统的稳定精度得到显著提升.%An airborne electro-optical ( E-0) platform is used to obtain real-time surveillance and measurement information, and an inertial stabilization system is designed to isolate the carrier motion so as to reduce the line-of-sight ( LOS) jitter of the optical sensors. In an E-0 platform system using mass stabilization, the shaft friction torque of gimbals is the main disturbance against stabilization accuracy of the LOS. Suppose that the friction torque is described by the LuGre model, with unknown dynamic friction parameters and unknown load characteristic, a model reference adaptive friction compensation is designed for the inertial stabilization loop. And asymptotic convergence of the tracking error of closed loop system is proved through Lyapunov-like analysis. The simulation results reveal a noteworthy improvement in stabilization accuracy of the LOS as compared with a conventional proportional integral controller.
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