大范围高机动重载吊舱稳定平台非线性传动环节扰动解耦与自适应补偿控制方法研究

The heavy pod stabilized platform (HPSP) with high control precision currently has been as an important developing direction in the aerial remote sensing fields. Meanwhile, it also has been a research hot and development bottleneck for many new aerial remote sensing systems, particularly for the unmanned helicopter (UH)-based airborne power line inspection (APLI) applications with multi-sensors. With the requirements of heavy load and large driving torque due to the integrated multi-sensors, the large reduction ratio transmission mechanism is need in the design of the HPSP. Thus, the serious nonlinear transmission disturbances are introduced, which result in the performance of the control system significantly decreased. In this project, we prepare to focus on these nonlinear transmission disturbances as our investigation emphasis. By research, the key technologies are analyzed and the disturbance compensation control methods are systematically proposed. The main works are composed of three parts: firstly, aiming to the cross coupling, a wide range of high mobility and dynamic coupling model will be created, by which the coupling effect is revealed; and a new decoupling control method based on the internal model and inverse system will be proposed, by which the accuracy of decoupling is improved significantly since the residual coupling derived from the model uncertainty factors is suppressed; then, aiming to the friction disturbance, a compound scheme is proposed to compensate the effect of nonlinear friction disturbance on the control precision of HPSP, in which the friction modeling, parameters identification and adaptive compensation are carried out, respectively; third, to decrease the influences of backlash nonlinearity on control precision, a backstepping integral compensating method based on the dead-zone model is put forward, in which the backlash modeling, parameters identification and adaptive compensation are also carried out, respectively. Finally, the proposed methods will be validated and optimized by series of experiments.

高精度重载吊舱稳定平台是当前航空遥感的一个重要发展方向，已成为多传感器无人机电力线路巡检等新型航空遥感系统的研究热点和发展瓶颈。由于集多种载荷于一体产生的重载和大力矩驱动要求，需要设计大减速比传动机构对电机力矩放大，从而引入非线性传动扰动，导致系统控制性能显著下降。本项目针对该类平台扰动特点展开研究，突破关键技术，系统提出大范围高机动下非线性传动环节扰动补偿控制方法。针对交叉耦合，建立大范围高机动动力学耦合模型，揭示耦合效应，提出基于逆系统的内模解耦控制方法，抑制模型不确定性因素导致的残余耦合，提高解耦精度；针对摩擦扰动，建立摩擦非线性模型，研究模型参数动静态复合高精度辨识方法，提出非线性摩擦扰动自适应补偿控制方法，实现摩擦扰动高精度补偿；针对齿隙扰动，建立齿隙非线性模型，研究模型参数准确辨识方法，提出非线性齿隙扰动自适应补偿方法，实现齿隙扰动高精度补偿。最后对方法进行实验验证和参数优化。

高精度重载吊舱稳定平台是当前航空遥感的一个重要发展方向，已成为多传感器无人机电力线路巡检等新型航空遥感系统的研究热点和发展瓶颈。由于集多种载荷于一体产生的重载和大力矩驱动要求，需要设计大减速比传动机构对电机力矩放大，从而引入非线性传动扰动，导致系统控制性能显著下降。本项目针对该类平台扰动特点展开研究，突破关键技术，系统提出大范围高机动下非线性传动环节扰动补偿控制方法。针对交叉耦合，建立大范围高机动动力学耦合模型，揭示耦合效应，提出基于逆系统的内模解耦控制方法，抑制模型不确定性因素导致的残余耦合，提高解耦精度；针对摩擦扰动，建立摩擦非线性模型，研究模型参数动静态复合高精度辨识方法，提出非线性摩擦扰动自适应补偿控制方法，实现摩擦扰动高精度补偿；针对齿隙扰动，建立齿隙非线性模型，研究模型参数准确辨识方法，提出非线性齿隙扰动自适应补偿方法，实现齿隙扰动高精度补偿。最后对方法进行实验验证和参数优化。项目成果服务于我国高端装备，已应用于我国大型无人直升机多传感器电力线路全自动巡检系统，有效地为激光雷达等多任务载荷提供了高精度扰动隔离和快响应目标跟踪保障，对提升无人机电力线路全自动巡检系统的整体性能、保障巡检效果发挥了重要作用，取得了重大社会效益和经济效益，本项目研究内容为主要创新之一的科技成果2020年提名国家科技进步奖二等奖。