Research On Compound Stability Control Technology Based On Information Fusion

With the rapid development of science and technology,modern warfare has become a form of war with information control and system integration as the mainstay,with information and precise weaponry as the main combat tool.As an important detection device in weaponry,the photoelectric reconnaissance payload can realize the reconnaissance of the battlefield environment and the tracking function of the target.Especially in the emergence and development of small unmanned aerial vehicles,photoelectric reconnaissance loads have also become lighter,smaller,and lower cost designs.Therefore,the sensors used in such photoelectric reconnaissance loads are also miniaturized,low-cost sensors,such as MEMS gyroscopes for angular velocity sensors.However,the low-cost sensor performance is poor,and the working environment of the photoelectric reconnaissance load is relatively bad.Therefore,in order to ensure the accuracy and stability of the photoelectric reconnaissance load,it is necessary to process the sensor signal of the photoelectric reconnaissance load and adopt an effective control strategy for the system.In order to improve the stability of photoelectric reconnaissance load,the paper designs the system from two aspects: sensor filtering and control structure.Finally,the effect of the design scheme on improving the stability of the photoelectric reconnaissance load is verified by experiments.The main research contents of this paper include:1.Analysis of signal characteristics of MEMS gyroscopes.During the use of MEMS gyroscopes,due to the influence of semiconductor thermal noise and electromagnetic interference,the output of the gyroscope will be superimposed with a certain random error.It mainly includes quantization noise,rate ramp,zero offset instability,angular rate random walk and angle random walk.The Allan analysis of variance is used to analyze the signal noise of the gyroscope,so as to characterize and identify various error sources and their contribution.2.Analysis and design of sensor signal processing algorithms based on information fusion.Based on the analysis of random noise of MEMS gyroscope signal,according to the actual situation of the system and signal,the Kalman filtering algorithm based on information fusion is proposed under the premise of comprehensive utilization of gyro signal and accelerometer signal.The Kalman filter algorithm is used to filter the sensor signal and estimate the constant drift,and compare it with the forward linear prediction filter algorithm in simulation and experiment which verifies the effectiveness of the information fusion based Kalman filter algorithm.3.The design of multi-loop stability control strategy with acceleration loop.On the basis of signal filtering and obtaining more accurate angular velocity and angular acceleration signals,the acceleration loop is added to the speed loop-current loop double closed loop control system to form a multi-loop control system.The effectiveness of the multi-loop control system is verified by experiments in the dSpace semi-physical simulation system.4.Design and simulation of compound stability control strategy.Based on the speed loop-acceleration loop-current loop multi loop control system,the disturbance-based feedforward control is added to form a compound control system for photoelectric reconnaissance load.The simulation model is built in Simulink of Matlab to verify that the compound control has better stability performance.Experiments were carried out using the dSpace semi-physical simulation system to further illustrate the effectiveness of the compound stability control.Thereby verifying the feasibility and effectiveness of the proposed scheme.