改进PID算法在光电跟踪仪中的应用研究  

Application of Improved PID Algorithm in Photoelectric Tracker

作　　者：黄辽宁[1] HUANG Liao-ning(Huazhong Institute of Electro-Optics,Wuhan National Laboratory for Optoelectronics,Wuhan 430223 China)

机构地区：[1]华中光电技术研究所-武汉光电国家研究中心

出　　处：《自动化技术与应用》2019年第8期1-4,共4页Techniques of Automation and Applications

摘　　要：在光电跟踪仪使用过程中,舰船摇摆等干扰会对跟踪造成影响。由于微分项的作用,使用经典PID控制算法在拐点等位置,伺服系统会有很大的输出,对跟踪造成影响。为避免这种情况,进一步提高光电跟踪仪的跟踪稳定性和精度,在经典PID控制算法的基础上进行改进,在微分环节输出加上数字滤波器,可以有效的避免微分项输出突变引起的跟踪系统不稳定,提高了跟踪精度。在光电跟踪仪的实际应用时此种方法可以改善跟踪性能,证明了此种方法在光电跟踪仪上的有效性。During the use of photoelectric tracker,the disturbance caused by ship swaying affects the tracking.Due to the role of differential terms,the servo system have a large output and affect the tracking with the classical PID control algorithm at the inflection point.In order to avoid this situation,further improve the tracking stability and accuracy of the photoelectric tracker,on the basis of the classic PID control algorithm,the output of differential link and digital filter can effectively avoid the instability of the tracking system caused by the differential output mutation and improve the tracking precision.This method can improve tracking performance in the practical application of photoelectric tracker.It proves the validity of the method in photoelectric tracker.

关 键 词：PID 一阶惯性环节 数字滤波 光电跟踪仪 不完全微分 伺服控制 滤波器 视频跟踪 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]