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为克服单轴伺服系统的固有频率和带宽限制,设计了一个双轴复合APT系统。建立了快速反射镜、相机、D/A数据采集卡和速度伺服单元的传递函数,得到了该系统的传递函数的理论模型。结合MATLAB仿真,分析了动态滞后误差、平台振动误差、光斑质心检测误差、机械力矩干扰误差对APT系统精度的影响。采用现代综合算法,对快速反射镜APT系统进行参数整定,设计了一个稳健控制器,进一步抑制残余低频扰动和高频噪声,提高了系统带宽和精度。实验得到的复合轴APT系统带宽为2~16 Hz,系统精度为0.8~4μrad,实验结果和理论分析基本一致。该系统为空间光通信、深空探测、遥感等领域的跟踪瞄准捕获系统的研究提供了借鉴。
In order to overcome the limitation of natural frequency and bandwidth of single-axis servo system, a biaxial composite APT system was designed. The transfer function of fast reflector, camera, D / A data acquisition card and speed servo unit is established, and the theoretical model of the transfer function of the system is obtained. Combined with MATLAB simulation, the influence of dynamic hysteresis error, platform vibration error, spot centroid detection error and mechanical torque disturbance error on APT system accuracy was analyzed. The modern comprehensive algorithm is used to tune the parameters of APT system. A robust controller is designed to further suppress the residual low-frequency disturbance and high-frequency noise and improve the system bandwidth and accuracy. The experimental results show that the bandwidth of APT system is 2 ~ 16 Hz and the system accuracy is 0.8 ~ 4μrad. The experimental results are in good agreement with the theoretical analysis. The system provides a reference for the research of tracking and aiming acquisition system in the fields of space optical communication, deep space exploration and remote sensing.