信赖域与增广拉格朗日算法融合的光电吊舱静平衡配平优化

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关键词：光电吊舱；静平衡配平；不平衡力矩；信赖域；增广拉格朗日法中图分类号：S24；TP751DOI：10.3969/j.issn.1004-132X.2026.03.025 开放科学（资源服务）标识码（OSID）：

Abstract：To address the imbalance torque caused bythe center-of-mass ofset in electro-optical pods，a balancing optimization method was developed. This method integrated an eccentricity parameter estimation approach based on the trust region framework with an augmented Lagrangian optimization algorithm.A mathematical model of the mass ofset was first established，and high-precision ecentricity parameters were estimated using trust-region-based method. The balancing problem was then formulated as a multi-objective optimization task aimedat minimizing both the imbalance torque and the total counterweight mass. The ε -constraint method was employed to convert the multi-objective problem into a singleobjective one. Following each ε updated，the augmented Lagrangian method was applied to obtain a Pareto solution sets，from which the final solution was determined using a weighted-sum strategy. Experimental validation was conducted on two electro-optical pods weighing 4kg and 10.5kg ，respectively，with 50tri- als each. The estimation errors of eccentricity distance and angle reach the order of 10-6 and 0.1∘ ，respectively. Post-balancing，the qualified rates of residual imbalance torque were 96% and 100% . These results confirm that the proposed method may eficiently and accurately determine optimal balancing configurations，offering a reliable theoretical and experimental foundation for the static balancing of electro-optical pods.

Key words： electro-optical pods; static equilibrium leveling;unbalanced moment; trust domain; aug mentedLagrangian method

0 引言

光电吊舱作为一种高精度的稳定载体，广泛应用于航空航天、军事侦察和遥感测绘等动态观测与测量任务中，其性能直接决定了探测任务的精确性和可靠性。（剩余16743字）