CN115542729A - Self-adaptive feedforward stabilization method for accurate guidance photoelectric guide platform - Google Patents
Self-adaptive feedforward stabilization method for accurate guidance photoelectric guide platform Download PDFInfo
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Abstract
The method comprises the steps of obtaining a line-of-sight angle signal of an accurately guided photoelectric guide platform by shooting measurement through an IRFPA infrared camera and carrying out data processing, designing a nonlinear self-adaptive advanced correction network through nonlinear operation and hysteresis and integration, obtaining a platform angular velocity expected amplitude limiting signal through amplitude limiting, installing a rate gyro to measure a pitch angle velocity signal of the photoelectric guide platform, and comparing the pitch angle velocity signal with the pitch angle velocity signal to obtain a platform angular velocity error signal; then installing a rate gyroscope on the photoelectric guide platform base, measuring a pitch angle speed signal of the platform base, and designing a nonlinear feedforward compensation network to obtain a nonlinear feedforward compensation signal of the base; and finally, obtaining an angular velocity error advanced correction signal by designing an interference adaptive compensation and nonlinear advanced correction network, and overlapping the platform angular velocity error signal to form a final stable control voltage signal of the photoelectric guidance platform, and transmitting the final stable control voltage signal to a torque motor to realize the stability of the accurate guidance photoelectric guidance platform.
Description
Technical Field
The invention relates to the field of position measurement and stabilization of an accurate guidance photoelectric guide platform, in particular to an adaptive feedforward stabilization method for the accurate guidance photoelectric guide platform.
Background
In recent years, imaging type precise guidance weapons can implement precise attack under a complex battlefield environment by virtue of strong anti-interference performance, particularly target selection capability and hit point selection capability, and become one of precise guidance technologies which compete and develop in all countries in the world. The accurate-guidance photoelectric-guidance stable tracking platform can isolate disturbance of carriers, missiles, airplanes, combat vehicles and ships, constantly measure changes of the attitude and the position of the platform, accurately keep a dynamic attitude reference, and realize automatic tracking of a target through image detection equipment, so the accurate-guidance photoelectric-guidance stable tracking platform is widely applied to modern weapon systems. The conventional stabilization platform is generally realized by adopting speed measurement feedback of a gyroscope and then adding classical control theories such as transfer function design, pole feedback, stability margin matching and the like; the stable platform achieved by the method often needs to know the main shaking frequency point of the platform base in advance to design pertinently during feed forward compensation, so that the performance of other frequency points cannot be completely guaranteed, and the overall anti-interference isolation disturbance capability is not outstanding. Based on the background reasons, the method adopts a method of matching and combining self-adaption, interference compensation and nonlinear advanced correction to design the precise guidance photoelectric stable platform, and experimental results show that the method has very good anti-interference capability, so that the method has very high engineering application value.
It is to be noted that the information invented in the above background section is only for enhancing the understanding of the background of the present invention, and therefore, may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a self-adaptive feedforward stabilization method for an accurate guidance photoelectric guide platform, and further solves the problems of low platform stabilization precision, low noise interference isolation capability and low external base shaking capability caused by the limitations and defects of the related art.
According to one aspect of the invention, an adaptive feedforward stabilizing method for an accurately guided photoelectric guide platform is provided, which comprises the following steps:
step S10, a rate gyro is installed on the accurate guidance photoelectric guide platform, and a pitch angle speed signal of the photoelectric guide platform is measured and recorded as omega 1 (ii) a Meanwhile, a rate gyroscope is arranged on a photoelectric guide platform base, and a pitch angle speed signal of the platform base is measured and recorded as omega b (ii) a And (5) shooting and measuring by adopting an IRFPA infrared camera and processing data to obtain a line-of-sight angle signal of the photoelectric guide platform, and recording the line-of-sight angle signal as q.
Step S20, according to the line-of-sight angle signal, firstly carrying out nonlinear operation and hysteresis processing, and then carrying out combined integration to obtain a line-of-sight angle nonlinear combined integral signal; and then carrying out advanced processing in a designed nonlinear self-adaptive advanced correction network to obtain a line-of-sight angle nonlinear advanced signal.
And S30, superposing the platform pitch angle speed signal according to the line-of-sight angle signal, the line-of-sight angle nonlinear combined integral signal and the line-of-sight angle nonlinear advance signal to obtain a platform angular speed expected signal, and carrying out amplitude limiting processing to obtain the platform angular speed expected amplitude limiting signal.
S40, designing a nonlinear feedforward compensation network according to the pitch angle speed signal of the platform base to obtain a nonlinear feedforward compensation signal of the base; and comparing the expected amplitude limiting signal of the platform angular velocity with the pitch angle velocity signal of the platform to obtain an error signal of the platform angular velocity.
S50, designing an interference self-adaptive compensation signal according to the platform angular speed error and the platform base pitch angle speed signal; then, according to the platform angular velocity error signal, a nonlinear advanced correction network is designed to obtain an angular velocity error advanced correction signal.
And S60, superposing the base nonlinear feedforward compensation signal, the platform angular velocity error signal, the interference self-adaptive compensation signal and the angular velocity error advanced correction signal to obtain a final stable control voltage signal of the photoelectric guidance platform, and transmitting the final stable control voltage signal to the torque motor to drive the photoelectric guidance platform and a load thereof so as to realize the stabilization of the visual angle signal of the photoelectric guidance platform.
In an exemplary embodiment of the present invention, the performing, according to the line-of-sight angle signal, a nonlinear operation and a hysteresis process, and then performing a combined integration to obtain a line-of-sight angle nonlinear combined integrated signal includes:
s 1 ＝∫(q f +k 5 q f1 )dt；
wherein q is f Is a line-of-sight angle nonlinear signal; k is a radical of 1 、k 2 、k 3 、k 4 、ε 1 Is a constant parameter signal; the detailed design is shown in the implementation of the following case. q. q of f1 For line-of-sight angle lag signals, T 0 、T 1 The detailed design is shown in the following examples for constant parameters. s is 1 Non-linearly combining the integrated signals for line of sight angles; k is a radical of 5 The detailed design is shown in the following examples for constant parameters.
In an exemplary embodiment of the present invention, designing a nonlinear adaptive lead correction network for performing a lead process according to the line-of-sight angle signal, and obtaining the line-of-sight angle nonlinear lead signal includes:
wherein q is f3 (n + 1) is a line-of-sight angle approximate differential signal; c. C 1 (n) is an adaptive parameter signal of the adaptive correction network; q. q.s f2 (n + 1) is a line-of-sight angle nonlinear advanced signal; t is 2 、T 3 、k 6 、k 7 The detailed design is shown in the following examples for constant parameters.
In an exemplary embodiment of the present invention, the obtaining of the desired limiting signal of angular velocity of the platform by superimposing the pitch angular velocity signal of the platform according to the line-of-sight angle signal, the nonlinear line-of-sight angle combined integral signal, and the nonlinear line-of-sight angle advance signal, and performing amplitude limiting processing includes:
ω d ＝k a1 q+k a2 s 1 +k a3 q f2 +k a4 ω 1 ；
wherein ω is d A desired signal for platform angular velocity; k is a radical of a1 、k a2 、k a3 、k a4 Is a constant parameter; the detailed design is shown in the implementation of the following case. Omega d1 An amplitude limited signal is expected for the platform angular velocity; sign () is a sign function; epsilon 2 For constant clipping parameters, the detailed design is described in the following example implementation.
In an exemplary embodiment of the invention, designing a nonlinear feedforward compensation network according to the pitch angular velocity signal of the platform base, and obtaining a nonlinear feedforward compensation signal of the base includes:
wherein ω is b3 Is a nonlinear signal of the pitch angle acceleration of the platform base; omega b1 A nonlinear feedforward compensation signal for the base; t is a unit of 4 、a w The detailed design is shown in the following examples for constant parameters.
In an exemplary embodiment of the present invention, the step of comparing the desired amplitude limiting signal of the platform angular velocity with the pitch angular velocity signal of the platform to obtain an error signal of the platform angular velocity, and the step of designing the interference adaptive compensation signal according to the error of the platform angular velocity comprises:
e ω ＝ω 1 -ω d1 ；
wherein e ω Is a platform angular velocity error signal; t is w Adaptively compensating the signal for the interference; b 1 、b 2 、b 3 Adaptively compensating coefficients for the interference; k is a radical of b1 、k b2 、k b3 、k b4 、k b5 、k b6 The detailed design is shown in the following examples for constant parameters.
In an exemplary embodiment of the present invention, designing a nonlinear lead correction network based on the platform angular velocity error signal, obtaining the angular velocity error lead correction signal comprises:
wherein e ω3 (n + 1) is a platform angular velocity error approximate differential signal; c. C 2 (n) is the adaptive parameter signal of the adaptive lead correction network; e.g. of the type ω2 (n + 1) is an angular velocity error advance correction signal; k is a radical of 7 、k 8 The detailed design is shown in the following examples for constant parameters.
In an exemplary embodiment of the present invention, the obtaining a final stable control voltage signal of the electro-optical guidance platform by superimposing the base nonlinear feedforward compensation signal, the platform angular velocity error signal, the interference adaptive compensation signal, and the angular velocity error lead correction signal includes:
u＝T w +k c1 e ω +k c2 e b1 +k c3 e ω2 ；
wherein u is the final stable control voltage signal of the photoelectric guidance platform, k c1 、k c1 、k c3 The detailed design of the control parameter is described in the following examples.
Advantageous effects
The invention discloses a self-adaptive feedforward stabilization method of an accurate guidance photoelectric guide platform, which has the following main innovation points: the method adopts a nonlinear self-adaptive advanced correction network, and can effectively solve the problem of delay caused by the adoption of an IRFPA infrared camera for photographing measurement and data processing in a photoelectric guide platform through the advanced network. And secondly, a method of combining base nonlinear feedforward compensation, interference adaptive compensation and a nonlinear lead correction network is adopted, so that the disturbance resistance of a speed stabilization loop can be greatly enhanced, and the disturbance resistance and disturbance isolation capability of the whole platform stabilization system are finally greatly improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a self-adaptive feedforward stabilization method for an accurately guided photoelectric guide platform provided by the invention.
FIG. 2 is a pitch angle velocity signal curve (radians/sec) of the optoelectronic guidance platform according to the method of the present invention;
FIG. 3 is a plot of platform base pitch angle rate signal (radians/sec) according to a method provided by an embodiment of the present invention;
FIG. 4 is a graph of the line-of-sight angle signal (degrees) of the platform for guiding the photoelectric device according to the embodiment of the present invention;
FIG. 5 is a plot of a desired clipped signal (radians/sec) for platform angular velocity according to a method provided by an embodiment of the present invention;
FIG. 6 is a graph (without unit) of a stabilized control voltage signal of the electro-optical guidance platform according to the method of the present invention;
FIG. 7 is a plot of platform base pitch signal (in radians) in accordance with a method provided by an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
The invention provides a method for obtaining a sight angle signal of an accurate guidance photoelectric guide platform by adopting an IRFPA infrared camera for photographing measurement and data processing, designing a nonlinear self-adaptive advanced correction network through nonlinear operation and hysteresis and integration, obtaining a platform angular velocity expected amplitude limiting signal through amplitude limiting, installing a rate gyroscope for measuring a pitch angle velocity signal of the photoelectric guide platform, and obtaining a platform angular velocity error signal through comparison with the pitch angle velocity signal; then, a rate gyroscope is installed on the photoelectric guide platform base, a pitch angle speed signal of the platform base is measured, and a nonlinear feedforward compensation signal of the base is obtained by designing a nonlinear feedforward compensation network; and finally, obtaining an angular velocity error advanced correction signal by designing an interference adaptive compensation and nonlinear advanced correction network, and overlapping the platform angular velocity error signal to form a final stable control voltage signal of the photoelectric guidance platform, and transmitting the final stable control voltage signal to a torque motor to realize the stability of the accurate guidance photoelectric guidance platform.
The following further explains and explains an adaptive feedforward stabilization method for a precision guided optical-electrical guiding platform according to the present invention with reference to the drawings. Referring to fig. 1, the method for self-adaptive feed-forward stabilization of the precisely-guided optical-electrical guidance platform may include the following steps:
step S10, a rate gyro is installed on the accurate guidance photoelectric guide platform, and a pitch angle speed signal of the photoelectric guide platform is measured; meanwhile, a rate gyroscope is arranged on a photoelectric guide platform base, and a pitch angle speed signal of the platform base is measured; shooting and measuring by adopting an IRFPA infrared camera and carrying out data processing to obtain a line-of-sight angle signal of the photoelectric guide platform;
specifically, a rate gyro is firstly installed on the precise guidance photoelectric guide platform, and the pitch angle speed of the photoelectric guide platform is measured and recorded as omega 1 (ii) a Secondly, a rate gyroscope is arranged on a base of the photoelectric guide platform, and the pitch angle speed of the base of the photoelectric guide platform is measured and recorded as omega b (ii) a And finally, taking a picture by adopting a high-speed IRFPA infrared camera, measuring and processing data to obtain a sight angle signal of the photoelectric guide platform, and recording the sight angle signal as q.
Step S20, according to the line-of-sight angle signal, firstly carrying out nonlinear operation and hysteresis processing, and then carrying out combined integration to obtain a line-of-sight angle nonlinear combined integral signal; and then carrying out advanced processing in a designed nonlinear self-adaptive advanced correction network to obtain a line-of-sight angle nonlinear advanced signal.
Specifically, firstly, according to the line-of-sight angle signal q, the following nonlinear operation is performed to obtain a line-of-sight angle nonlinear signal as follows:
wherein q is f Is a line-of-sight angle nonlinear signal; k is a radical of formula 1 、k 2 、k 3 、k 4 、ε 1 Is a constant parameter signal; the detailed design is described in the examples below.
Secondly, designing a nonlinear lag corrector according to the line-of-sight angle signal, and obtaining the line-of-sight angle lag signal as follows:
wherein q is f1 For line-of-sight angle lag signals, T 0 、T 1 The detailed design is shown in the following examples for constant parameters. Then, the line-of-sight angle lag signal and the line-of-sight angle nonlinear signal are combined and integrated to obtain a line-of-sight angle nonlinear combined integrated signal as follows:
s 1 ＝∫(q f +k 5 q f1 )dt；
wherein s is 1 Non-linearly combining the integrated signals for line of sight angles; k is a radical of 5 For constant parameters, detailed design is described in the following examples.
Finally, according to the line-of-sight angle signal, a nonlinear self-adaptive advanced correction network is designed to carry out advanced processing, and the line-of-sight angle nonlinear advanced signal is obtained as follows:
wherein q is f3 (n + 1) is a line-of-sight angle approximate differential signal; c. C 1 (n) is an adaptive parameter signal of the adaptive correction network; q. q.s f2 (n + 1) is a line-of-sight angle nonlinear advanced signal; t is 2 、T 3 、k 6 、k 7 The detailed design is shown in the following examples for constant parameters.
Step S30, according to the line-of-sight angle signal, the line-of-sight angle nonlinear combination integral signal and the line-of-sight angle nonlinear advance signal, the platform pitch angle speed signal is superposed to obtain a platform angular speed expected signal, and amplitude limiting processing is carried out to obtain a platform angular speed expected amplitude limiting signal;
specifically, the pitch angular velocity signal of the platform is first superimposed according to the line-of-sight angle signal, the line-of-sight angle nonlinear combination integral signal, and the line-of-sight angle nonlinear advance signal, so as to obtain the angular velocity expected signal of the platform as follows:
ω d ＝k a1 q+k a2 s 1 +k a3 q f2 +k a4 ω 1 ；
wherein omega d A desired signal for platform angular velocity; k is a radical of a1 、k a2 、k a3 、k a4 Is a constant value parameter; the detailed design is shown in the implementation of the following case.
Then, according to the platform angular velocity expected signal, performing saturation amplitude limiting processing as follows to obtain the platform angular velocity expected amplitude limiting signal as follows:
wherein ω is d1 An amplitude limited signal is expected for the platform angular velocity; sign () is a sign function; epsilon 2 For constant clipping parameters, the detailed design is described in the following example implementation.
S40, designing a nonlinear feedforward compensation network according to the pitch angle speed signal of the platform base to obtain a nonlinear feedforward compensation signal of the base; and comparing the expected amplitude limiting signal of the platform angular velocity with the pitch angle velocity signal of the platform to obtain an error signal of the platform angular velocity.
Specifically, firstly, a nonlinear feedforward compensation network is designed according to the pitch angle speed signal of the platform base, and the nonlinear feedforward compensation signal of the base is obtained as follows:
wherein ω is b3 Is a nonlinear signal of the pitch angle acceleration of the platform base; omega b1 A nonlinear feedforward compensation signal for the base; t is 4 、a w The detailed design is shown in the following examples for constant parameters.
Then, comparing the expected amplitude limiting signal of the platform angular velocity with the pitch angular velocity signal of the platform to obtain an error signal of the platform angular velocity as follows:
e ω ＝ω 1 -ω d1 ；
wherein e ω Is the platform angular velocity error signal.
S50, designing an interference self-adaptive compensation signal according to the platform angular speed error and the platform base pitch angle speed signal; then designing a nonlinear advanced correction network according to the platform angular velocity error signal to obtain an angular velocity error advanced correction signal;
specifically, firstly, according to the platform angular velocity error signal, an interference adaptive compensation signal is designed as follows:
wherein T is w Adaptively compensating the signal for the interference; b is a mixture of 1 、b 2 、b 3 Adaptively compensating coefficients for the interference; k is a radical of b1 、k b2 、k b3 、k b4 、k b5 、k b6 The detailed design is shown in the following examples for constant parameters.
Then, according to the platform angular velocity error signal, a nonlinear lead correction network is designed, and the angular velocity error lead correction signal is obtained as follows:
wherein e ω3 (n + 1) is a platform angular velocity error approximate differential signal; c. C 2 (n) is the adaptive parameter signal of the adaptive look-ahead network; e.g. of the type ω2 (n + 1) is an angular velocity error advance correction signal; k is a radical of 7 、k 8 For constant parameters, detailed design is described in the following examples.
And S60, superposing the base nonlinear feedforward compensation signal, the platform angular velocity error signal, the interference self-adaptive compensation signal and the angular velocity error advanced correction signal to obtain a final stable control voltage signal of the photoelectric guidance platform, and transmitting the final stable control voltage signal to the torque motor to drive the photoelectric guidance platform and a load thereof so as to realize the stabilization of the visual angle signal of the photoelectric guidance platform.
Specifically, the final stable control voltage signal of the photoelectric guidance platform is obtained by superposing the nonlinear feedforward compensation signal of the base, the angular velocity error signal of the platform, the interference adaptive compensation signal and the angular velocity error lead correction signal as follows:
u＝T w +k c1 e ω +k c2 e b1 +k c3 e ω2 ；
wherein u is the final stabilized control voltage signal of the photoelectric guidance platform, k c1 、k c1 、k c3 The detailed design of the control parameter is described in the following examples.
Case implementation and computer simulation result analysis
In step S10, a rate gyro is installed on the precision guidance photoelectric guidance platform, and a signal for measuring the pitch angle and the speed of the photoelectric guidance platform is shown in fig. 2, and the amplitude value swings sinusoidally around 0.03; meanwhile, a rate gyroscope is arranged on a photoelectric guide platform base, a pitch angle speed signal of the measurement platform base is shown in figure 3, and the amplitude value swings around 1.5; the line-of-sight angle signal of the photoelectric guide platform obtained by taking a picture by an IRFPA infrared camera and performing data processing is shown in FIG. 4, and the amplitude swings around 0.001.
In step S20, k is selected 1 ＝-250、k 2 ＝-25、k 3 ＝-16、k 4 ＝28、ε 1 ＝0.1、T 1 ＝0.2、T 0 ＝0.001；k 5 ＝0.3；T 2 ＝0.05、T 3 ＝1.2、k 6 ＝0.05、k 7 ＝0.01。
In step S30, k is selected a1 ＝400、k a2 ＝2、k a3 ＝1.5、k a4 ＝2、ε 2 =0.8. The desired clipped signal for the platform angular velocity is obtained as shown in fig. 5.
In step S40, T is selected 4 ＝0.25、a w ＝8.95。
In step S50, k is selected b1 ＝0.0005、k b2 ＝0.0003、k b3 ＝0.0002、k b4 ＝0.0001、k b5 ＝0.0001、k b6 ＝0.0002、k 7 ＝0.02、k 8 ＝0.01。
In step S60, k is selected c1 ＝5.3、k c1 ＝0.2、k c3 And =0.2. The final stable control voltage signal of the photoelectric guidance platform is obtained as shown in fig. 6. And the pitch angle signal of the platform base is shown in figure 7, and the amplitude value swings around 0.1. As can be seen from the comparison between fig. 7 and fig. 4, although the platform base is shaken, the final shaking amplitude of the line-of-sight angle is only about 1% of the platform base as can be seen from fig. 4. As can be seen from the comparison between fig. 3 and fig. 2, the amplitude of the shaking angular velocity of the platform base is about 50 times the shaking amplitude of the line-of-sight angular velocity. Therefore, the stability control algorithm of the whole photoelectric guide platform is effective, the shaking of the platform base is effectively isolated, and the stability of the line-of-sight angle in the whole process is ensured, so that the method can be applied to accurate guidance.
Claims (1)
1. A self-adaptive feedforward stabilization method for an accurately guided photoelectric guide platform is characterized by comprising the following steps:
step S10, in the precision manufacturingA rate gyro is arranged on the photoelectric guide platform, and a pitch angle speed signal of the photoelectric guide platform is measured and recorded as omega 1 (ii) a Meanwhile, a rate gyroscope is arranged on a photoelectric guide platform base, and a pitch angle speed signal of the platform base is measured and recorded as omega b (ii) a Taking a picture by adopting an IRFPA infrared camera, measuring and processing data to obtain a sight angle signal of the photoelectric guide platform, and recording the sight angle signal as q;
step S20, according to the line-of-sight angle signal, firstly carrying out nonlinear operation and hysteresis processing, and then carrying out combined integration to obtain a line-of-sight angle nonlinear combined integral signal; then, carrying out advanced processing on a designed nonlinear self-adaptive advanced correction network to obtain a line-of-sight angle nonlinear advanced signal;
s 1 ＝∫(q f +k 5 q f1 )dt；
wherein q is f Is a line-of-sight angle nonlinear signal; k is a radical of formula 1 、k 2 、k 3 、k 4 、ε 1 Is a constant parameter signal; q. q.s f1 For line-of-sight angle lag signals, T 0 、T 1 Is a constant parameter, s 1 Non-linearly combining the integrated signals for line of sight angles; k is a radical of 5 Is a constant parameter; q. q of f3 (n + 1) is a line-of-sight angle approximate differential signal; c. C 1 (n) is an adaptive parameter signal of the adaptive correction network; q. q.s f2 (n + 1) is a line-of-sight angle nonlinear advanced signal; t is a unit of 2 、T 3 、k 6 、k 7 Is a constant parameter;
step S30, according to the line-of-sight angle signal, the line-of-sight angle nonlinear combination integral signal and the line-of-sight angle nonlinear advance signal, a platform pitch angle speed signal is superposed to obtain a platform angular speed expected signal, and amplitude limiting processing is carried out to obtain a platform angular speed expected amplitude limiting signal;
ω d ＝k a1 q+k a2 s 1 +k a3 q f2 +k a4 ω 1 ；
wherein omega d A desired signal for platform angular velocity; k is a radical of a1 、k a2 、k a3 、k a4 Is a constant parameter; omega d1 An amplitude limited signal is expected for the platform angular velocity; sign () is a sign function; epsilon 2 A constant clipping parameter;
s40, designing a nonlinear feedforward compensation network according to the pitch angle speed signal of the platform base to obtain a nonlinear feedforward compensation signal of the base; comparing the expected amplitude limiting signal of the platform angular velocity with the pitch angle velocity signal of the platform to obtain an angular velocity error signal of the platform;
e ω ＝ω 1 -ω d1 ；
wherein ω is b3 Is a platform base pitch angle acceleration nonlinear signal; omega b1 Feeding forward a compensation signal for the base nonlinearity; t is a unit of 4 、a w Is a constant value parameter; e.g. of a cylinder ω Is a platform angular velocity error signal;
s50, designing an interference self-adaptive compensation signal according to the platform angular speed error and the platform base pitch angle speed signal; then designing a nonlinear advanced correction network according to the platform angular velocity error signal to obtain an angular velocity error advanced correction signal;
wherein T is w Adaptively compensating the signal for the interference; b is a mixture of 1 、b 2 、b 3 Adaptively compensating coefficients for the interference; k is a radical of b1 、k b2 、k b3 、k b4 、k b5 、k b6 Is a constant value parameter, wherein e ω3 (n + 1) is a platform angular velocity error approximate differential signal; c. C 2 (n) is the adaptive parameter signal of the adaptive look-ahead network; e.g. of the type ω2 (n + 1) is an angular velocity error advance correction signal; k is a radical of 7 、k 8 Is a constant parameter;
step S60, superposing the base nonlinear feedforward compensation signal, the platform angular velocity error signal, the interference self-adaptive compensation signal and the angular velocity error advanced correction signal to obtain a final stable control voltage signal of the photoelectric guidance platform, and transmitting the final stable control voltage signal to a torque motor to drive the photoelectric guidance platform and a load thereof so as to realize the stabilization of the visual angle signal of the photoelectric guidance platform;
u＝T w +k c1 e ω +k c2 e b1 +k c3 e ω2 ；
wherein u is the final stable control voltage signal of the photoelectric guidance platform, k c1 、k c1 、k c3 The parameter is controlled to be constant.
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