红外与激光工程, 2019, 48 (9): 0913002, 网络出版: 2019-10-12
基于位置域迭代学习的激光导引头测试系统时变周期干扰抑制
Time-varying periodic disturbance suppression of laser seeker testing system based on spatial iterative learning control
激光导引头测试系统 迭代学习控制 位置域 时变周期干扰 laser seeker testing system iterative learning control spatial domain time-varying periodic disturbance
摘要
激光导引头测试系统是对激光导引头进行参数标定及性能测试的专用测试设备,其性能和精度决定了导引头的品质。为了提高某激光导引头测试系统的性能,抑制时变周期干扰对测试系统的影响,提出一种基于位置域的迭代学习控制方法。通过对不同转速下干扰成分的时域/位置域频谱分析,得到时变周期干扰具有角位置定周期的特征,基于迭代学习的思想提出一种位置域的迭代学习控制结构,依据算法的收敛性条件和滤波器的相位延迟特性,给出控制参数的整定准则和相位补偿方法,并对其应用效果进行了实验验证。在最大转速指令下的实验表明,采用位置域迭代学习控制方法后,角位置稳态跟踪精度提高了65.8%,在此基础上,对位置域迭代周期进行修正,角位置稳态跟踪精度进一步提高了61.5%。
Abstract
The laser seeker testing system is a special testing equipment for the parameter calibration and performance testing of the laser seeker. Its performance and precision determine the quality of the seeker. In order to improve the performance of a laser seeker testing system and restrain the influence of time-varying periodic disturbance on the testing system, an iterative learning control method based on spatial domain was proposed. By analyzing the time-domain and position-domain spectrum of the disturbance components at different velocities, it was obtained that periods of the disturbances were time-varying but position-fixed. Based on the idea of iterative learning, an iterative learning control structure of the spatial domain was carried out. According to the convergence condition of the algorithm and the phase delay characteristic of the filter, the control parameter principles were derived and the phase compensation methods were demonstrated. Its application effect was verified by experiments. The experiment under the command of maximum rotation speed shows that the steady-state tracking error of angular position is decreased by 65.8%, and further, the corrected steady-state tracking error of angular position is decreased by 61.5% after adopting the iterative learning control method of spatial domain.
霍鑫, 吴瑷菁, 王孟渝, 邢宝祥. 基于位置域迭代学习的激光导引头测试系统时变周期干扰抑制[J]. 红外与激光工程, 2019, 48(9): 0913002. Huo Xin, Wu Aijing, Wang Mengyu, Xing Baoxiang. Time-varying periodic disturbance suppression of laser seeker testing system based on spatial iterative learning control[J]. Infrared and Laser Engineering, 2019, 48(9): 0913002.