Self-returning-zero Compound Axis Stabilized Sighting System in Electro-optic System

doi:10.12382/bgxb.2023.1157

Abstract

Abstract:

The sub-axis of traditional compound axis stabilized sighting system has a small motion range,which is easy to reach saturation integration and causes the failure of system.As to the problem above,a self-returning-zero compound axis stabilized sighting system is proposed.On the basis of analyzing the reasons why the sub-axis of traditional compound axis stabilized sighting system is prone to integral saturation and leads to system failure,a self-returning-zero compound axis stabilized sighting system of which the main axis moves along with the sub axis according to the strength function is proposed.The feasibility and advantages of the proposed stabilized sighting system to avoid the integral saturation and enhance the anti-interference characteristics are visually demonstrated,theoretically analyzed,and simulated with mathematical simulation software,and a test platform is built for experimental verification.The test shows that,in the low frequency band,the self-returning-zero compound axis stabilized sighting system can not only guarantee the vibration rejection ability of sub axis,but also greatly enhance the vibration rejection ability of main axis,so that the main axis error is maintained at a small value,so as to avoid the limit saturation of sub axis.This shows the feasibility of the self-returning-zero compound axis stabilized sighting system and its advantages in avoiding the limit saturation of sub axis and maintaining stability of the system.

Key words: electro-optic system, stabilized sighting system, compound axis, self-returning-zero, fast steering mirror

CLC Number:

TN917. 82

LIU Xiaoqiang, NIU Shuaixu, YANG Xiulin, WANG Hu, YANG Yong’an, ZHANG Huijing, LIU Jingli, ZHAO Zichun. Self-returning-zero Compound Axis Stabilized Sighting System in Electro-optic System[J]. Acta Armamentarii, 2025, 46(1): 231157-.

Figures/Tables 13

Fig.1 Schematic diagram of the structure of compound axis stabilized sighting system in electro-optic system

Fig.2 Control principle diagram of traditional compound axis stabilized sighting system

Fig.3 Control principle diagram of self-returning-zero compound axis stabilized sighting system

Fig.4 Kinematic relation between main axis and sub axis in the compound axis system

Fig.5 Block diagram of equivalent control corresponding to the design of strength function W1

Table 1 Vibration rejection simulation conditions

参数	剪切频率/ Hz	相位裕度/ (°)	带宽/Hz	超调
子轴控制特性	41	56	74	1.14
主轴控制特性	12	46	22	1.40

Fig.6 Comparison of the main axis vibration rejection curves of self-returning-zero compound axis stabilized sighting system and traditional compound axis stabilized sighting control system

Fig.7 Test scheme of self-returning-zero compound axis stabilized sighting system

Fig.8 Physical test diagram of self-returning-zero compound axis stabilized sighting system

Table 2 Vibration rejection error test data of traditional compound axis stabilized sighting system

频率/ Hz	幅值/ (°)	主轴误差统计/μrad		子轴误差统计/μrad
频率/ Hz	幅值/ (°)	均方差	标准差	均方差	标准差
0.3	55	118.73	89.64	-0.53	3.88
0.4	45	107.05	93.71	-0.20	5.21
0.7	15	121.42	87.00	0.043	3.97

Table 3 Vibration rejection error test data of self-returning-zero compound axis stabilized sighting system

频率/ Hz	幅值/ (°)	主轴误差统计/μrad		子轴误差统计/μrad
频率/ Hz	幅值/ (°)	均方差	标准差	均方差	标准差
0.3	55	-4.79	23.28	0.0025	4.09
0.4	45	1.61	19.13	-0.011	4.33
0.7	15	-2.96	26.77	0.037	4.44

Fig.9 Comparison of sub axis errors with a frequency of 0.3Hz and a amplitude of 55°

Fig.10 Comparison of main axis errors with a frequency of 0.3Hz and a amplitude of 55°

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