基于加速度反馈的上反稳瞄系统最优控制研究

针对某车载上反稳瞄系统中火炮瞄准线稳定精度0.2 mrad的要求，提出在惯性速率稳定闭环内增加高增益的加速度闭环校正，形成多闭环的控制回路，并通过ITAE(integral of time-weightde absolute error)最优控制对系统控制回路的PID参数进行整定。对上反稳瞄系统构成进行分析，对控制系统的负载、陀螺和无刷力矩电机等闭环回路进行建模仿真；利用ITAE最优控制器对多闭环控制系统的PID控制参数进行调节；对系统添加随机干扰和单位阶跃响应，测试其相关性能。测试结果表明:相比传统的调整PID参数和单速度环控制系统，基于加速度多闭环ITAE最优控制器可以使系统抗扰动性能提高约78%，超调量减小约23%，摇摆稳定精度提高约29%，可较好地满足上反稳瞄系统稳定性能的要求。

Optimal control of upper anti-stabilization aiming system based on acceleration feedback

According to the requirement of stabilization precision of 0.2 mrad for artillery aiming line in upper anti-stabilization aiming system, a multi-closed control loop was formed by adding high gain acceleration closed-loop correction in traditional inertia rate stable closed-loop, and the PID parameters of the system were adjusted by integral of time-weight absolute error (ITAE) optimal control. The structure of the upper anti-stabilization aiming system was introduced and analyzed, and the closed-loop control system was simulated, such as load, gyro and brushless torque motor. The ITAE optimal controller was used to adjust the PID control parameters of the multi-closed-loop control system. Added random interference and unit step response to the system in order to test the related performance. The test results show that compared with the traditional adjustment of PID parameters and single-speed-loop control system, the multi-closed-loop ITAE optimal controller based on acceleration can improve the system anti-disturbance performance by 78%, the overshoot is reduced by about 23%, and the swing stability accuracy is improved by about 29%, which can better meet the stability requirements of the upper anti-stabilization aiming system.