针对光雷一体化测量系统中复杂谐振对伺服单元的不利影响, 提出了采用自适应陷波器及观测器滤波反馈组合实现谐振补偿的方法。首先, 结合机械结构及频响测试结果分析了系统的谐振特性, 指出系统存在雷达天线谐振、雷达机体谐振和天线高阶及轴系耦合谐振等3类主要谐振模式, 并求得谐振特性随俯仰角变化的规律。讨论了对这种复杂谐振的补偿方法, 提出采用自适应陷波器补偿雷达天线和雷达机体谐振, 并利用Kalman观测器滤波反馈抑制天线高阶及轴系耦合谐振的方法。结果表明: 经过谐振组合补偿后, 各类谐振均得到有效抑制, 速度环闭环带宽期望值达到了115 rad/s, 阶跃过程过渡时间为0.35 s, 在保证闭环控制稳定性的同时满足了系统带宽要求。

To overcome the adverse effect of complicated resonant vibration resulting from the OE-radar integrative measuring system on a servo unit, a hybrid compensating method combined an adaptive notch filter and the feedback of observer filtering was proposed to restrain the resonant vibration . Firstly, the resonant characteristics of the system were analyzed according to the mechanical structure and tested frequency properties. It indicates that there are three kinds of primary resonant modes in the system, which is the radar antenna resonance, radar cabin resonance and the antenna high-order and bearing coupling resonance. The rule of resonant characteristics varying with an elevation angle was also obtained. Then, a compensating method to the complicated resonant vibration was discussed. The adaptive notch filter in series was applied to compensation of the radar antenna resonance and the radar cabin resonance, and the feedback of the Kalman observer filtering was used to restrain the antenna high-order and bearing coupling resonance. Experimental results indicate that all kinds of resonances are restrained effectively by the hybrid compensating method, the velocity close-loop bandwidth of servo unit is up to 115 rad/s, and the transient time of step response is 0.35 s. The method proposed can satisfy the system requirements for high bandwidth and stabilization.