【摘要】 车载天线转台在复杂环境下实现目标信号的稳定跟踪是航空航天和国防领域的重要需求。文中针对车载平台的中小型二轴天线转台研究其自稳算法和控制方法。首先，建立二轴天线转台的运动学模型，推导天线稳定的条件，为后续控制算法设计提供理论基础；然后，在传统双环控制的基础上，引入干扰观测器以消除未建模扰动的影响，并采用迭代补偿算法以提高跟踪精度和系统的动态稳定性能；最后，通过仿真和实验验证所提方法的有效性和可靠性。结果表明，所述控制策略能够显著提高天线转台在复杂环境下的跟踪精度和稳定性，满足高精度指向和快速响应的需求。更多还原

【Abstract】 Stable tracking of target signals by the vehicle-borne antenna turntable in the complex environment is crucial in aerospace and defense applications. The self-stabilization algorithms and control methods are studied for small and medium-sized two-axis antenna turntable on vehicle-borne platforms in this paper. Firstly, the kinematic model of the twoaxis antenna turntable is established and the stability conditions of the antenna are derived, which provides a theoretical foundation for subsequent control algorithm design. Subsequently, based on traditional dual-loop control, a disturbance observer is introduced to eliminate the effects of unmodeled disturbances, and an iterative compensation algorithm is used to enhance tracking accuracy and optimize the dynamic stability performance of the system. Finally, the effectiveness and reliability of the proposed method are verified through simulations and experiments. The results demonstrate that the control strategy significantly improves the tracking accuracy and stability of the antenna turntable in complex environments, which meets the requirements of high-precision pointing and rapid response.更多还原