基于自适应差分进化算法的三轴光电跟踪策略  

Tracking Strategy of Three-axis Photoelectric Tracking System Based on Adaptive Differential Evolution Algorithm

作　　者：官伯林[1] 贾建援[1] 朱应敏[1] 

机构地区：[1]西安电子科技大学机电工程学院,西安710071

出　　处：《机械工程学报》2012年第10期14-22,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金联合基金资助项目(10476019)

摘　　要：为解决传统两轴光电跟踪系统的跟踪盲区问题,实现空间目标的全方位跟踪,提出一种存在冗余自由度的三轴光电跟踪系统。在详细分析三轴光电跟踪系统运动学特性的基础上,运用四元数方法建立三轴光电跟踪系统运动学模型,并提出一种基于自适应差分进化算法的三轴全方位光电跟踪策略。通过对系统运动学模型进行分析,得到三轴转动角度之间的关系,从而将求取三轴转角增量组合的三变量优化问题简化为单变量优化问题,并将自适应差分进化算法应用于求取三轴角增量的最优组合当中。仿真和试验结果证明,此三轴光电跟踪策略避免以往三轴跟踪系统在跟踪过程中进行两轴切换的不连续性,可以真正实现系统的三轴联动全方位连续跟踪运动;同时,与现有的其他跟踪策略相比较,该三轴跟踪策略能够以更小的三轴转动角度实现目标的跟踪定位;因而提高了系统的快速性和跟踪性能,具有良好的工程应用价值。A type of three-axis photoelectric tracking system with a redundant degree of freedom is designed for avoiding the spatial blind region of two-axis photoelectric tracking system and realizing the tracking movement in whole space.Based on the movement analysis of three-axis photoelectric tracking system,the kinematical model of system with redundant degree of freedom is built by using quaternion method.Then,adaptive differential evolution（ADE） algorithm is designed for the tracking strategy of three-axis tracking system.Through the analysis of the kinematical model,the relationship between three axes rotating angles could be obtained.Then three-variable optimization of three axes angular increments could be simplified as the optimization of single-variable,and the optimal three-axis angular increments are calculated by using ADE.The results of simulation and experiment show that this tracking strategy can realize three-axis linkage continuous tracking movement in whole space,which could avoid the switch course between different axes in the tracking process,and this tracking strategy could track the target with smaller three axes angular increments.Therefore the tracking performance of this tracking strategy is more superior to other tracking strategies,and it has great value in engineering application.

关 键 词：三轴 跟踪系统 跟踪性能 自适应差分进化 优化 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]