针对二维陀螺平台方位瞄准线控制在过顶位置时因驱动轴和敏感轴存在非线性约束导致的不稳定问题,分析了不同类型扰动源对方位瞄准线稳定的影响及其随俯仰角变化的规律,提出了基于扰动源分类控制的过顶稳定方法.该方法采用反馈和前馈双通道复合控制结构,在过顶位置时基于控制结构自身消除陀螺测量噪声放大导致的内生力矩扰动,通过增加前馈通道的滤波环节,抑制横滚扰动高频分量引起的力矩扰动,解决了过顶位置时方位驱动轴震荡的问题,同时通过反馈通道和前馈通道分别实现对方位扰动和横滚扰动低频分量的有效隔离.仿真结果表明,该方法能够大幅衰减陀螺测量噪声和横滚扰动高频分量引起的方位电机力矩扰动幅值,增强系统稳定性.最后通过某二维陀螺平台进行了实验,过顶位置时瞄准线方位经受振动条件下的稳定精度由82.4 μrad 减小为44.6 μrad,经受摇摆条件下的隔离度由?14.54 dB提升至?27.85 dB.实验结果验证了该方法能够有效提升过顶位置方位瞄准线的扰动隔离性能.

为分析飞机前向运动对光电稳瞄系统扫描策略的影响,介绍与稳瞄系统相关的地心地固坐标系、导航坐标系、机体坐标系、瞄准线坐标系等4种常用坐标系,归纳了常用坐标系之间的齐次变换关系.从微分运动的角度,用运动学表达式论述了载机前向运动对两轴四框架稳瞄系统所产生的成像机理.搭建从稳瞄系统内部控制元件一直到系统外部地理指向的全链路仿真模型,并根据运动学关系在模型中施加相应的控制作用,以消减飞机前向运动对稳瞄系统所带来的成像影响.给全链路仿真模型赋予和物理实际相符的电学和运动学参数,模拟了稳瞄系统在空中对地定位和扫描的过程.结果 显示,该前向运动理论分析正确且有效,所搭建的全链路模型可用.

将四元数相关理论应用于光电稳瞄系统的瞄准线指向研究,从四元数的角度描述了光电稳瞄系统随载体的一般三维运动,分析了载体的一般三维运动对光电稳瞄系统瞄准线的影响,结合所搭载载体的惯导数据,求解了经历载体运动后载体导航系下光电稳瞄系统要保持指示目标所需调转到的三轴姿态角度.以机载光电稳瞄系统为实例对该求解方法进行验证,仿真结果表明:使用该求解方法得出的姿态四元数结果能正确地将瞄准线矢量旋转并指示原目标.

随着科技的进步,GPS在近几年来有了不错的发展,运用GPS三维动态的方式测量载体的姿态信息.GPS的姿态测量速度快而且精准度高,所以受到人们的广泛运用.在人们的不断的改良,寻找到一种合适的光纤来替代电缆,降低电缆的功耗,而且还能减少电磁的干扰,研制了一种光载GPS一机多天线的系统.在GPS三维姿态测量基本原理,载波相位差分测姿态等方面分析,进行研究.

According to these problems of low control precision, linearity difference about the scanning control system of the traditional analog control technologydesign, introduces a kind of scanning control system based on DSP. optimal motor and position sensor have been selected through the analysis of validity of the system. Current feedback and position feedback digital control strategy has been applied to achieve a ray machine scanning and control system of high-precision and accurate linearity. Experimental results show that the scanning and control system proposed in this paper possesses high accuracy to satisfy the using requirements and is robust to different environmental conditions. Therefore, it is promising in applications in varies types of photoelectric scanning imaging products.

Based on the optical image de-rotation implemented by the transmission mechanism of a panoramic observation sight,the advantages and weaknesses of traditional optical de-rotation methods were analyzed.By simplifying the mechanism,the mathematical model of the controlled object was established.According to the system requirements of real-time controlling and processing,the digital-analog control hybrid circuits were designed,which improved the stability and reliability of the system.A typical instance of the control system was simulated with MATLAB/SIMULINK,the results show that the electric circuit can meet the requirements of stability and real-time processing.

A motor control system based on the digital phase-locked loop was introduced. By focusing on the situation which traditional analog control were still used in most servo area,through the use of the complex programmable logic device(CPLD),the digital control of brushless DC motor was realized. The elements and characteristic of the PLL were analyzed. The composing and function of the control system were introduced. Aiming at the require of realime processing of control with the limit of volume and power,a kind of motor control project which is reconfigurable based on CPLD was proposed. The system used EPM7128S as main controllers. The program was wrote through VHDL language. The experimental results showed that the system present high robustness and good accuracy and improved the speed ability of motor.

Since the angle and angular rate measurement of the existing helicopter-borne stabilized sight system is very accurate,a real-time target passive ranging method is put forward based on these measurements.The mathematical model for locating fixed ground target by helicopter-borne stabilized sight system was established,a rotary variable differential transformer was used to measure target angle and an inertial gyroscope was used to measure target angle variation rate.The measurement accuracy is better than 0.1 mrad/s,which is ten times accurate than before.The stability and precision of ranging measurement system are improved by extend Kalman filter(EKF).The simulation and experiment results indicate,it can make real-time target range estimation,which is suitable for the real time target position of attack helicopter.

This paper introduces a high speed two-phase brushless DC motor control system based on the DSP.By focusing on the situation which traditional brush DC motor are still used in most servo area,through the use of digital signal processor and complex programmable logic device,the digital control of brushless DC motor is realized.Firstly it analyzes the elements and characteristic of the system.Secondly aiming at the require of real-time processing of control with the limit of volume and power,a kind of motor control project which is reconfigurable based on DSP+CPLD is proposed.The system uses TMS320F2812 and EPM7128S as main controllers.The program of DSP is written through C language.The experimental result shows that the system presents high robustness and good accuracy and improves speed ability of the motor.