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A SAKF-Based Composed Control Method for Improving Low-Speed Performance and Stability Accuracy of Opto-Electric Servomechanism

机译：基于SAKF的组合控制方法，用于改善光电伺服机构的低速性能和稳定精度

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摘要

The opto-electric servomechanism (OES) plays an important role in obtaining clear and stable images from airborne infrared detectors. However, the inherent torque disturbance and the noisy speed signal cause a significant decline in the inertial stability accuracy and low-speed performances of OESs. Traditional linear control schemes cannot deal with the nonlinear torque disturbance well, and the speed obtained by the finite difference (FD) method cannot effectively balance the tradeoff between the noise filtering and phase delay. Therefore, this paper proposes a strap-down stability control scheme, in the combination of a proportional-integral(PI) controller and a state-augmented Kalman filter (SAKF), where the PI is used to regulate the linear part of the servomechanism, and with the SAKF performing torque disturbance observation and speed estimation simultaneously. The principle and the implementation of the controller are introduced, and the tuning guidelines for the controller parameters are presented as well. Finally, the experimental verifications based on OESs with three transmission types (i.e., the direct-driving, the harmonic-driving, and the rotate vector-driving(RV-driving) OESs) are carried out respectively. The experimental results show that the proposed control scheme can perform better speed observation and torque disturbance compensation for various types of OESs, thus effectively improving the low-speed performance and stability accuracy of the mechanism.
机译：光电伺服机构（OES）在获取空气传播红外探测器的清晰稳定图像方面发挥着重要作用。然而，固有的扭矩扰动和嘈杂的速度信号导致袜子的惯性稳定精度和低速性能发生显着下降。传统的线性控制方案不能处理非线性扭矩扰动，并且通过有限差分（FD）方法获得的速度不能有效地平衡噪声滤波和相位延迟之间的权衡。因此，本文提出了一种带式稳定性控制方案，其组合于比例积分（PI）控制器和状态增强的卡尔曼滤波器（SAKF），其中PI用于调节伺服机构的线性部分，并且SAKF同时执行扭矩扰动观察和速度估计。引入了控制器的原理和实施，并且还呈现了控制器参数的调整指南。最后，分别基于具有三种透射类型的袜子的实验验证（即直接驱动，谐波驱动和旋转矢量驱动（RV驱动）袜子）。实验结果表明，所提出的控制方案可以用于多种类型的OESS执行更好的速度观察和扭矩干扰补偿，从而有效地提高了机构的低速性能和稳定性的精度。

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