李醒飞,郑安琪,拓卫晓,周 政
AuthorsHTML:李醒飞，郑安琪，拓卫晓，周 政
AuthorsListE:Li Xingfei,Zheng Anqi,Tuo Weixiao,Zhou Zheng

AuthorsHTMLE:Li Xingfei，Zheng Anqi，Tuo Weixiao，Zhou Zheng

Unit:天津大学精密测试技术及仪器国家重点实验室，天津 300072



Unit_EngLish:State Key Laboratory of Precision Measurement Technology and Instruments， Tianjin University，Tianjin 300072，China

Abstract_Chinese:宽频惯性基准(H-IRU)能够提供一束稳定于惯性空间的参考光束，作为捕获、跟踪与瞄准(ATP)系统视轴 的惯性参考．根据 H-IRU 的弹簧-质量模型推导了系统的传递函数，并对系统的频响特性进行了辨识实验．为了抑 制 H-IRU 柔性支撑结构引入的低频谐振，提出了一种改进型陷波器．为了避免因陷波器参数设计不合理导致谐振抑 制效果不理想或设计过程反复等情况的发生，提出了一种陷波器参数优化设计方法．以 H-IRU 系统模型幅频特性曲 线最大幅值处的频率确定陷波中心频率，根据系统的直流增益与最大幅值之差确定陷波深度参数，以最小化加入陷 波器后系统幅频曲线凸起为目标构造目标函数，对陷波器宽度参数进行快速寻优．将设计的陷波器串联入控制回 路，结合不完全微分 PID 控制和噪声抑制扰动观测器设计了一种混合控制器作为 H-IRU 的位置环控制器．对串联陷 波器后的 H-IRU 系统的开环及闭环频域特性进行了 Matlab 仿真，并利用扫频法和辨识法对其实验频域特性进行了 测试．仿真和实验结果表明：采用参数优化方法设计的陷波器能够有效抑制系统 27 Hz 附近的低频机械谐振，结合 闭环控制方法，可拓展系统闭环带宽至 110 Hz．
Abstract_English:The high-bandwidth inertial reference unit(H-IRU)provides a reference beam stabilized in the inertial space as the inertial reference of the line-of-sight of acquisition，tracking，and pointing system. According to the spring-mass model of the H-IRU system，the transfer function of the system was derived，and the frequency characteristics were identified and experimentally tested. To suppress the low-frequency resonance induced by the flexible support structure of inertial reference and to avoid undesirable resonance suppression effect，an improved notch filter with a parameter optimization design is proposed. The notch frequency is determined by the frequency at the maximum amplitude of the system amplitude frequency curve while the depth parameter is obtained from the difference between the DC gain and the maximum amplitude of the system. An objective function is constructed to minimize the amplitude frequency curve bulge after the addition of the notch filter which quickly optimizes the notch width parameter. The notch filter was connected in series to the control loop. A hybrid controller was designed as the position loop controller of H-IRU by combining the incomplete differential PID control and the noise suppression disturbance observer. The open-loop and closed-loop frequency domain characteristics of H-IRU system after series notch filter were observed through Matlab simulations while the experimental frequency domain characteristics were tested using frequency sweep and identification methods. Simulation and experimental results reveal that the proposed notch filterdesigned by the parameter optimization method effectively suppresses the low-frequency mechanical resonance near 27 Hz. Combined with the closed-loop control method，the closed-loop bandwidth of the system can be extended to 110 Hz.
Keyword_Chinese:宽频惯性基准；谐振抑制；陷波器；参数优化
Keywords_English:high-bandwidth inertial reference unit(H-IRU)；resonance suppression；notch filter；parameters optimization

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