非线性速度估计器在光电跟踪系统中的应用  

Application of a Nonlinear Velocity Estimator in Photoelectronic Tracking System

作　　者：熊皑[1] 范永坤[1] 

机构地区：[1]中国科学院光电技术研究所,成都610209

出　　处：《电光与控制》2010年第11期52-55,共4页Electronics Optics & Control

基　　金：中国科学院知识创新工程资助项目

摘　　要：高质量的速度反馈信息对光电跟踪系统的跟踪精度有着非常重要的影响。由于受传感器物理限制以及从价格上考虑,通常采用光学编码器并同时为系统提供位置信息和速度信息,因此如何从光学编码器的位置信息中获取高质量的速度信息就显得尤为关键。首先从传统的编码器位置信号差分求速出发,介绍了非线性跟踪-微分器的原理,在此基础上提出了一种非线性速度估计器,同时讨论了如何选择该控制器的设计参数。基于某光电跟踪系统伺服控制结构,并采用抗积分饱和PI控制器作为三环回路控制器,分别对采用非线性速度估计器和向后差分方法的伺服系统进行仿真分析,并进一步在实验平台上进行实验。仿真和实验验证,采用非线性速度估计器的系统比采用向后差分的系统,在稳态性能和跟踪精度上都有明显的提高。High-quality velocity feedback information plays an important role in the servo control system of photoelectronic tracking system.However,considering the sensor physical limitation and the price,the optical encoder is used for supplying both the position and velocity signals to the system,and how to acquire high-quality velocity information from the position data is challenging.The traditional Back Difference（BD） method was introduced,and the basic principle of the nonlinear tracking-differentiator was analyzed.Taking into account the characteristics of the nonlinear tracking-differentiator and the practical servo control system,we proposed a Nonlinear Velocity Estimator（NVE）,and discussed the selection of its design parameters.Based on the servo control structure of the photoelectronic tracking system,and employing the anti-windup PI controllers in all the three control loops,we made simulation to the NVE and the servo system of BD with Simulink,and carried out experiments on testing platform.The result showed that： compared with the system using BD,the system using NVE method has obviously higher stability and tracking precision.

关 键 词：光电跟踪系统 跟踪微分器 非线性 向后差分 速度估计器 

分 类 号：V556.5[航空宇航科学与技术—人机与环境工程]