Research On Nonlinear Low-speed Stability Control Technology Of Optoelectronic Po

The photoelectric pod control system mainly realizes the functions of stability control and target tracking,and it has high requirements on tracking accuracy.Since the photoelectric pod works at low or very low speed most of the time,its low speed stability performance is the key to ensure the stable tracking accuracy of the system,which requires the stability control ability and tracking control accuracy of the control system at low speed.On the other hand,in practical work,the photoelectric pod will also be affected by nonlinear disturbance caused by carrier movement or its own mechanical structure coupling,which will easily make the system crawl,shake or speed fluctuation in the low-speed state,affecting the low-speed stability.Traditional control methods are difficult to meet the control performance under complex disturbances.In order to suppress these nonlinear disturbances,it is necessary to improve the anti-interference performance and adaptive performance of the control strategy,reduce the dependence of the algorithm on the control model,and improve the low-speed stability control performance of the photoelectric pod.In view of the complex working conditions,serious interference,coupling between frames and other problems of the photoelectric pod,the basic working principle is studied,the factors affecting the stability accuracy of the system are analyzed,and the improvement of the low-speed stability performance of the photoelectric pod system needs to be studied from the aspects of improving the anti-interference and self-adaptability of the control strategy.To solve the problem of stability control,the mathematical model of the control system is established.According to the principle of disturbance isolation,the double closed-loop control loop of velocity loop and position loop is designed to improve the disturbance isolation ability of the system.For its control strategy,the magnetic field directional control algorithm is studied and taken as the driving algorithm,and the deficiencies of steady-state performance of the system before correction and after adding PID control algorithm are analyzed.Due to the actual working conditions,the system of nonlinear friction torque,mass unbalance torque disturbance and wind resistance is difficult to model accurately,comprehensive analysis of the characteristics of various disturbances,the introduction of the targeted the immunity control algorithm and the fuzzy algorithm for the optimization,design a fuzzy self-tuning pattern since the immunity control algorithm for correction system.The internal frame control model of the photoelectric pod was built and nonlinear interference source was introduced.Simulation experiments were carried out to observe the improvement of low speed stability control performance of the proposed control strategy under nonlinear interference.Finally,the speed loop and position loop double loop low speed control experiment is carried out on the experimental system,and the outdoor position accuracy test is carried out to verify the feasibility of the control strategy and its stable control effect.The experimental results show that the fuzzy self-tuning active disturbance rejection control strategy has a good suppression effect on the complex nonlinear interference at low speed,with strong adaptability and fast response,and the control accuracy meets the system performance index,which has a certain reference significance for improving the low-speed stability control performance of the photoelectric pod.