设计了一种永磁同步电机驱动的舰载光电跟踪系统, 利用光纤陀螺实时检测光电跟踪器的运动状态, 由永磁同步电机通过齿轮间接驱动光电跟踪系统, 使其在惯性空间保持稳定。不同于陆基光电跟踪系统, 舰船受风浪影响所产生的摇摆运动会耦合到舰载光电跟踪系统, 对其跟踪性能产生较大的影响。为了减小舰船摇摆带来的影响, 降低齿轮间隙、死区、摩擦、系统模型失配等扰动的影响, 设计了舰载光电跟踪系统的干扰观测器(DOB), 利用DOB观测出包括舰船摇摆所造成的各种扰动, 将其作为补偿信号前馈到控制输入端, 减小非线性扰动对系统的影响。实验结果表明, 该方法能提高光电跟踪伺服控制单元的抗干扰能力, 有效提升系统的控制性能。

A ship-based Electro-Optical Tracking System (EOTS) driven by PMSM through gear system is designed to reduce the effect of ship-swaying caused by winds and waves.The fiber optic gyroscope is used to detect the motion state of EOTS in real time, and the EOTS is stabilized relative to inertial space by servo control unit.Unlike the land-based EOTS, the swaying motion of a ship caused by winds and waves is coupled to the ship-based EOTS, which has a great impact on its tracking performance.A Disturbance Observer (DOB) of the ship-based EOTS is designed to reduce the effect caused by ship swaying, and of the disturbances of backlash, dead zone, friction, system model mismatch, etc.The DOB is introduced to estimate the lumped disturbances of the system, and the estimated value is used in the feed-forward compensation design to improve the disturbance rejection ability.The experimental results show that the proposed scheme can ensure good anti-disturbance ability, which can enhance the control performance of the system.