在传统前馈控制的基础上引入了基于参考模型的扰动估计来改善舰载光电设备的动态性能, 提高其扰动隔离能力, 从而提高跟踪精度。分析了传统前馈控制二次扰动问题, 结合扰动估计观测器精确估计系统扰动的优点, 提出了基于参考模型扰动估计的前馈控制器。介绍了常规扰动观测器的工作原理, 分析了观测器应用于舰载光电设备中存在的问题; 引入参考模型, 构建了参考模型扰动估计的前馈控制器, 并给出了相应的结构图和传递函数, 分析了它的输出特性和鲁棒性; 最后, 对本文设计的控制器进行了模型仿真和实验研究并与传统前馈控制方法进行了对比。实验结果表明: 基于参考模型扰动估计的前馈控制方法对摩擦力矩扰动和测量误差有良好的补偿效果, 固定点指向误差均方根由12.36″提高到5.919″; 在靶标以10 s周期转动的动态实验中, 跟踪精度均方根误差从20.615 7″提高到13.744″, 隔离度提高了12 dB, 动态性能显著改善。本文方法结合了前馈控制和扰动估计的优点, 能更好地抑制扰动, 提高系统的动态性能和跟踪精度。

A disturbance observer based on reference model was introduced into the traditional feedforward control to improve the dynamic performance of a carrier-based optoelectronic theodolite and to improve the disturbance isolation and tracking accuracy. A kind of feedforward control based on the reference model disturbance observer was proposed. It not only abstained the secondary disturbance of traditional feedforward control, but also combined with the accurate estimation of the disturbance observer.The working principle of the disturbance observer was introduced and its problems existing in the application of carrier-based optoelectronic theodolite were pointed out. By introduction of the reference model of carrier-based optoelectronic theodolite, a feedforward control based on reference model disturbance observer was established, the structure chart and transfer function were given, and its transfer behavior and robustness were analyzed. Finally, some controller model simulations and experiments were carried out and contrasted with the traditional feedforward control method. Experiment results show that feedforward control based on reference model disturbance observer can overcome both friction torque disturbance and measurement errors, and the point error of fixed point is improved from 12.36″(RMS) to 5.919″(RMS). In the dynamic test, when a target turns by a cycle of 10 s, the tracking accuracy is improved from 20.615 7″(RMS) to 13.744″(RMS), the degree of isolating is increased by about 12 dB, and the dynamic performance is significantly improved. It concludes that the proposed method combines the advantages of feedforward control and disturbance observer, and it can better improve the system dynamic performance and tracking accuracy.