跟踪微分器在陀螺信号去噪方面的应用

朱枫; 张葆; 李贤涛; 晋超琼; 申帅

doi:10.3788/CO.20171003.0355

跟踪微分器在陀螺信号去噪方面的应用

doi: 10.3788/CO.20171003.0355

cstr: 32171.14.CO.20171003.0355

朱枫^{1, 2,},
张葆^1, ,,
李贤涛¹,
晋超琼^{1, 2},
申帅^{1, 2}

1.
中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
2.
中国科学院大学, 北京 100049

基金项目:

国家高技术研究发展计划（863计划）资助项目 2013AA122102

详细信息

作者简介:
朱枫(1992-), 女, 吉林省吉林市人, 硕士研究生, 2014年于山东大学获得学士学位, 主要从事伺服控制及数字滤波方面的研究。E-mail:zf0109@126.com

张葆(1966—)，男，吉林磐石人，研究员，博士生导师，1989年、1994年于长春光机学院分别获得学士、硕士学位，2004年于中国科学院长春光学精密机械与物理研究所获得博士学位，主要从事航空光电成像技术方面的研究。E-mail:cleresky@vip.sina.com

通讯作者:
张葆, E-mail:cleresky@vip.sina.com

中图分类号: TP273
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- 被引次数: 0
出版历程
- 收稿日期: 2017-01-25
- 修回日期: 2017-03-29
- 刊出日期: 2017-06-01

Application of tracking differentiator to gyro signal denoising

ZHU Feng^{1, 2
,},
ZHANG Bao^{1
, ,},
LI Xian-tao¹,
JIN Chao-qiong^{1, 2},
SHEN Shuai^{1, 2}

1.
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China

Funds:

National High-tech R & D Program of China 2013AA122102

摘要

摘要: 为了提高航空光电稳定平台的视轴稳定精度，采用跟踪微分器作为滤波器，对输入信号进行滤波，改善随机噪声对控制精度带来的负面影响。跟踪微分器会产生相位延迟，根据它得到的滤波信号及其微分信号，采用预报方法对滤波后的信号进行补偿。算法不依赖对象模型，计算量较小，易于实现。本文阐述了该算法的离散数学表达式，给出数值仿真分析，并在某型航空光电稳定平台上进行实验验证。结果表明：相较于巴特沃斯滤波器，跟踪微分器提高了阶跃响应的性能，最大超调量减少10.5%，上升时间缩短了4.5 ms，调整时间缩短50 ms。基本满足控制系统的实时性、快速性、稳定可靠、精度高、抗干扰能力强等要求。研究表明跟踪微分器对于航空光电稳定平台的精度提高，有比较好的实用价值。
- 跟踪微分器 /
- 滤波 /
- 随机噪声 /
- 相位延迟 /
- 航空光电稳定平台
Abstract: In order to improve the aviation optical axis stabilization accuracy of the photoelectric stabilized platform, we use tracking differentiator as filter to decrease the negative effects of random noise on the control accuracy. on the basis of the filtered signals and their differentiated signals, the phase delays after being filtered are compensated by predicting. This algorithm is model-independent and easy to implement with small calculation. In this paper, the discrete mathematics of the algorithm is described, and the numerical simulation and experimental verification are conducted and applied to the photoelectric stabilized platform for aviation. The results show that the tracking differentiator, compared with the Butterworth filter, can improve the performance of the step response, shorten the maximum overshoot by 10.5%, cut down the rise time by 4.5 ms, shorten the setting time by 50 ms. The simulation and experiment proved the validity and practicability of the algorithm. It can meet the system requirements for real time, higher precision and rapid speed, as well as strong anti-jamming and stabilization. It also indicates that the tracking differentiator provide good value for the improvement of the precision of the photoelectric stabilized platform for aviation.
- tracking differentiator /
- filter /
- random noise /
- phase delay /
- photoelectric stabilized platform for aviation

HTML全文

图 1 航空光电稳定平台的系统框图

Figure 1. Block diagram of system with photoelectric stabilized platform for aviation

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图 2 速度环控制系统框图

Figure 2. Block diagram of cnotrol system in velocity loop

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图 3 从N(s)到θ(s)的系统框图

Figure 3. Block diagram of system from N(s) to θ(s)

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图 4 qrs14和DSP-1750陀螺传感器

Figure 4. Gyroscopes of qrs14 and DSP-1750

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图 5 两种陀螺的零位噪声

Figure 5. Zero noise of two kind of gyroscopes

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图 6 正弦运动时的原始陀螺信号

Figure 6. Original gyro signal when sine movement

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图 7 两种滤波器对正弦运动的陀螺信号的滤波效果

Figure 7. Signal of Gyroscope filtred by two kinds of filter

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图 8 叠加有野值的正弦信号

Figure 8. Sine signal with abnornnal value

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图 9 两种滤波器对信号野值的剔除能力

Figure 9. Contrast of two kinds of filtes′ ability in removing abnormal value

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图 10 航空光电稳定平台和飞行模拟转台

Figure 10. Aerial photoelectrical stabilized platform and swing table

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图 11 两种滤波方法的速度阶跃响应

Figure 11. Step response of velocity of two kinds of filters

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表 1 巴特沃斯控制下的系统阶跃响应性能

Table 1. Step response performance of indicators with Butterworth filter

Velocity/(°·s^-1) Rise time/ms Setting time/ms Overshoot/%

10 45.7 198.7 28.6

20 54.9 231.8 27.8

30 62.2 244.2 28.1

40 69.8 206.3 27.2

50 76.4 213.9 25.7

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表 2 跟踪微分器控制下的系统阶跃响应性能

Table 2. Step response performance of indicators with tracking differentiator

Velocity/(°·s^-1) Rise time/ms Setting time/ms Overshoot/%

10 41.2 148.7 18.1

20 51.1 189.3 19.6

30 58.7 196.7 18.6

40 66.0 155.2 17.5

50 73.4 162.4 17.7

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