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中文核心期刊

机载激光稳瞄主被动协同控制机制及参数影响

MECHANISMS OF ACTIVE-PASSIVE SYNERGISTIC CONTROL AND PARAMETER INFLUENCE FOR AIRBORNE LASER STABILIZED POINTING SYSTEMS

  • 摘要: 为解决机载激光武器在多源扰动下的高精度稳瞄难题, 本文提出一种主被动协同隔振与精稳跟踪控制方法. 首先, 建立包括载体基座、稳定平台、转台和光路组件的三自由度动力学模型, 并以稳定平台固有频率为基准进行无量纲化处理, 将原含7个有量纲参数的复杂多体耦合问题转化为由惯量比νμ, 刚度比κ及阻尼比ζfζg共5个无量纲参数表征的规范模型, 实现被控对象与任务载荷的解耦. 其次, 设计内环主动隔振与外环精稳跟踪的分层协同控制架构: 内环采用比例-微分(Proportional-Derivative, PD)反馈结合调谐带通滤波器, 向稳定平台引入虚拟刚度和虚拟阻尼, 并向主隔振频率处注入集中式能量耗散; 外环融合比例-积分(Proportional-Integral, PI)反馈与基于标称惯性模型的气动扰动力矩前馈, 以增强低频扰动抑制. 推导了载体振动、气动扰动及光路扰动至光束指向误差的闭环传递函数. 重点从力学层面分析关键参数的影响规律: 主隔振阻尼比ζf的影响由能量耗散与相位滞后两种机制竞争决定, 大阻尼在高频段因相位滞后可能使传递力矩与下游模态同相, 导致响应放大, 主被动协同的核心应为低结构阻尼配合高主动控制增益; PD增益等效为虚拟刚度与虚拟阻尼, 单独增大将导致品质因数升高或反作用力激励增强, 可能触发模态耦合或高阶模态激发; 带通滤波器的集中式阻尼注入具有频率选择性, 其参数整定需在窄带高效与宽带鲁棒间权衡. 次级隔振的力学本质是通过弹性层实现阻抗失配以阻断能量传递, κζg需在低频支撑、谐振抑制和高频隔离三者间协同优化. 质量分布参数中, μ反映主模态惯性解耦与高频惯性滤波的频域权衡, ν是伺服带宽的惯性瓶颈, 体现跟踪与抗扰的力学制衡. 建立了总指向误差方差与关键设计参数的映射关系, 为系统级误差分配提供理论依据. 研究为机载激光武器稳瞄系统提供了系统化的理论框架和具有力学依据的设计准则.

     

    Abstract: To address the high-precision stabilized pointing challenge for airborne laser weapons under multi-source disturbances, this paper presents an active-passive synergistic vibration isolation and fine-stabilized tracking control method. A three-degree-of-freedom dynamic model is first established, which incorporates the carrier base, stabilization platform, gimbal, and optical path assembly. Through dimensionless scaling based on the natural frequency of the stabilization platform, the original system with seven dimensional parameters is reduced to a canonical form. This form is characterized by only five dimensionless parameters — inertia ratios ν and μ, stiffness ratio κ, and damping ratios ζf and ζg — thereby decoupling plant dynamics from payload configuration. A hierarchical control architecture is then designed. Specifically, an inner loop employs proportional-derivative (PD) feedback with a tuned bandpass filter to introduce virtual stiffness and virtual damping to the stabilization platform and to inject concentrated energy dissipation at the primary isolation frequency. An outer loop integrates proportional-integral (PI) feedback with feedforward compensation based on a nominal inertial model of the aerodynamic disturbance torque to enhance low-frequency disturbance rejection. Closed-loop transfer functions from base vibrations, aerodynamic torques, and optical path disturbances to beam pointing error are derived. The influence patterns of key parameters are systematically investigated from a mechanical mechanism perspective. The effect of the primary isolation damping ratio ζf is governed by the competition between energy dissipation and phase lag: large damping introduces excessive phase lag at high frequencies, potentially causing the transmitted force to align in phase with downstream subsystem modes and amplify the response, therefore, the core principle of active-passive synergy is low structural damping combined with high active control gain. PD gains are mechanically equivalent to virtual stiffness and virtual damping; increasing either alone raises the quality factor or amplifies reaction force excitation, possibly triggering modal coupling or higher-order mode excitation. The bandpass filter provides frequency-selective concentrated damping injection, and its tuning involves a trade-off between narrowband efficiency and broadband robustness. The secondary isolation stage functions essentially as an impedance mismatch layer to block vibration energy transmission; its parameters κ and ζg require synergistic optimization among low-frequency support, resonance suppression, and high-frequency isolation. Among mass distribution parameters, μ reflects a frequency-domain trade-off between primary-mode inertial decoupling and high-frequency inertial filtering, while ν is the inertial bottleneck of servo bandwidth, embodying the mechanical balance between tracking and disturbance rejection. A mapping relationship between total pointing error variance and key design parameters is established, providing a theoretical basis for system-level error budgeting. This study provides a systematic theoretical framework and mechanically grounded design guidelines for stabilized pointing systems in airborne laser weapons.

     

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