一种基于Kalman滤波的双电机消隙天线跟踪控制系统

A dual-motor anti-backlash antenna tracking control system based on Kalman filter

摘要:

首先本文给出了天线跟踪控制系统组成及原理框图，阐述了系统闭环工作流程；其次，针对天线跟踪目标过程中，跟踪接收机输出的目标与天线波束中心角误差受随机误差分量的影响，采用Kalman滤波算法对获得的实时角位置数据进行滤波处理；然后，对天线跟踪控制系统进行了建模，给出了系统动力学模型，对采用的双电机消隙设计方案进行了仿真；最后，通过挂飞试验验证了系统工作的可靠性。

Abstract:

The article firstly provides the composition and principle diagram of the antenna tracking control system, and the closed-loop workflow of the system is described. Secondly, in the process of antenna tracking target, the error between the target output by the tracking receiver and the center angle of the antenna beam is affected by the random error component. The Kalman filtering algorithm is used to filter the real-time angle position data obtained. Thirdly, the antenna tracking control system is modeled, the system dynamics model is given, and the dual motor anti-backlash design scheme is simulated. Finally, the reliability of the system is verified by the flight test.