光电跟踪伺服系统的输入多采样率满意控制  

Satisfactory control for E-O tracking system based on multi-rate input algorithm

作　　者：马东玺[1] 张文博[1] 范大鹏[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《红外与激光工程》2011年第12期2484-2491,共8页Infrared and Laser Engineering

基　　金：国家自然科学基金(50875257)

摘　　要：针对成像跟踪器低采样率帧频特性对光电跟踪伺服系统控制性能的影响,提出了一种基于输入多采样率控制原理的满意PID控制器。应用输入多采样率控制原理,提高了控制系统的稳定度,减小了跟踪器的低采样率帧频特性对系统跟踪性能的影响。将输入多采样率PID控制器的参数求解转换为满足极点约束和方差约束的多目标满意优化问题,从而使伺服系统的跟踪性能满足指定的快速性和精度指标要求。对所提出方法的有效性进行了实验验证,结果表明:在成像跟踪器的输出帧频为25Hz的条件下,所提出的输入多采样率满意PID控制器能够减小光电跟踪伺服系统工作模式切换带来的超调和振荡,对0.5Hz正弦信号的动态跟踪精度能够提高2个像素点;能够有效降低成像跟踪器的低采样率帧频特性对伺服系统控制性能的影响,提高了系统跟踪目标的稳定性、动态性和跟踪精度。In order to reduce the effect of image tracker′s low output sample rate on E-O tracking system,a kind of multi-rate input satisfactory PID controller was presented.Using the multi-rate input control algorithm,the stabilization margin was distinctly improved,and it reduced the effect of image tracker′s low output sample rate.The seeking of the multi-rate input PID controller′s parameters were transformed to a satisfactory optimizing problem with region poles and covariance restriction,which made the E-O tracking system obtain the expected performance of rapidness and precision.Experiment results show that on condition of output frequency of 25 Hz,the multi-rate satisfactory PID controller can reduce the overshoot and ripple caused by mode switching of the servo system,and increase 2 pixels control precision for servo system to tracking dynamic sine signal of 0.5 Hz.So it can reduce the effect of image tracker′s low output sample rate on E-O control system distinctly,and improve the stability,dynamics performance and tracking precision of E-O tracking servo system

关 键 词：成像跟踪器 光电跟踪 伺服系统 输入多采样率 满意PID 

分 类 号：TH761.1[机械工程—仪器科学与技术]