两轴两框架光电稳定平台视轴运动控制算法
LOS Moving Algorithm for Two Axes and Two Frames Opto-Electronic Stabilized Platform
梁晓华 1贾宇霞 1丁楠1
作者信息
- 1. 浙江大立科技股份有限公司,杭州 310000,
- 折叠
摘要
在控制卧装地平式两框架光电稳定平台视轴线(LOS)时,视轴线速度指令直接给到框架,存在吊舱视轴线运动轨迹与操作杆给定指令轨迹偏差的问题,有违操作使用意图.为优化视轴运动轨迹,对地平式两框架机构进行运动学分析,建立虚拟视轴角速度指令与框架角速度指令映射关系,借助运动学方程模型,推导微分运动方程,求解雅可比矩阵,得到视轴指令到框架运动速度映射方程.通过仿真,经分析框架对控制指令的响应,视轴线运动符合控制要求.
Abstract
When controlling the horizontally mounted two-frame optoelectronic stabilization platform,the line of sight(LOS)speed instruction is directly given to the frame.There is a problem of deviation between the movement trajectory of the line of sight and the given command trajectory of the operating lever.In order to optimize the line of sight motion trajectory,kinematic analysis of the horizontal two-frame mechanism is conducted,and the line of sight angle speed instruction and the frame angle speed instruction mapping relation is established.With a kinematic differential equation model,the Jacobian matrix is solved to achieve the speed decomposition of the operating rod command to the frame motion angular velocity.Through simulation and analysis,framework response to the control instruction and the line of sight shaft movement meet the control requirements.
关键词
光电稳定平台/运动学方程/雅克比矩阵/视轴运动Key words
opto-electronic stabilized platform/dynamic equation/Jacobi matrix/LOS moving引用本文复制引用
出版年
2024
NETL
NSTL
万方数据