为了提高光电陀螺稳定平台的隔离度, 改善其在速度扰动情况下的稳定精度和跟踪精度,将分数阶PIλ控制器引入到光电陀螺稳定平台的速率环控制中。首先, 说明了采用常规PI控制提高系统精度的弊端, 介绍了分数阶微积分和分数阶PIλDμ控制, 提出采用分数阶PIλ控制器来提高控制系统的控制精度。然后, 针对采用电流环的等效一阶纯积分控制对象, 提出基于稳定裕度和剪切频率的设计方法, 该方法同样适用于整数阶PI控制器。最后, 以机载光电陀螺稳定平台为研究对象, 分别采用分数阶PIλ和整数阶PI控制器进行了阶跃响应、速度扰动隔离和稳定精度的实验研究。实验结果表明, 采用分数阶PIλ控制器的系统具有阶跃响应超调量小的优点, 在幅值为3.14(°)/s, 频率为0.5 Hz的速度扰动下, 速度扰动隔离度提高了约38%, 稳定精度提高了约40%。实验表明, 与整数阶PI控制器相比, 采用分数阶PIλ控制器可在保证稳定裕度的前提下提高系统的控制精度, 且与整数阶PI控制器一样具有易于工程实现的优点。

To improve the isolation of a photoelectric gyro stabilized platform and to improve its accuracy of stability and tracking within velocity disturbance, the fractional PIλ controller was applied to the rate loop control of the photoelectric gyro stabilized platform. First, the shortcomings to improve system accuracy by the conventional PI control were mentioned. Then, the fractional calculus and fractional order PIλDμ control were introduced and the fractional PIλ controller was proposed to improve the control accuracy of the control system. According to the equivalent first-order integral model with a current loop, the design method of fractional PIλ controller parameters also suitable for the integer-order PI controller was proposed based on phase margin and crossover frequency. Finally, a fractional PIλ controller and an integer order PI controller were respectively used to perform the experiments on step response, the residues of velocity disturbance and stable accuracy for an airborne photoelectric gyro stabilized platform. Experimental results show that the system with fractional PIλ controller has smaller overshoot than that with PI controller. The isolation of velocity disturbance is improved about 38% and the stability is improved about 40% at a frequency of 0.5 Hz and an amplitude of 3.14 (°)/s. The experiments demonstrate that control accuracy of system can be improved by using fractional PIλ controller under ensuring the stability margin.The method proposed can be easily realized on engineering.