基于传感器优化与鲁棒预测的等效加速度前馈  

Equivalent acceleration feedforward based on sensor optimization and robust prediction

作　　者：夏文强 何秋农 段倩文 周翕 邓久强 毛耀[1,2,3] Xia Wenqiang;He Qiunong;Duan Qianwen;Zhou Xi;Deng Jiuqiang;Mao Yao(Key Laboratory of Optical Engineering,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;Institute of Optics and Electronics,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院光束控制重点实验室,四川成都610209 [2]中国科学院光电技术研究所,四川成都610209 [3]中国科学院大学,北京100049

出　　处：《光电工程》2021年第11期1-10,共10页Opto-Electronic Engineering

基　　金：青年科学基金项目(61905253)。

摘　　要：在一类仅安装MEMS加速度计和图像传感器的光电跟踪系统中,等效加速度前馈控制方法能够有效提高系统的跟踪能力。但是,加速度计低频噪声、目标合成轨迹延迟和运动模型不确定性,会对跟踪效果带来限制。因此,本文提出一种基于传感器优化与鲁棒预测的等效加速度前馈方法,来进一步提升系统的跟踪能力。使用加速度计测量值和系统加速度模型计算值进行频域融合,可以优化加速度计的低频性能;而采用鲁棒预测算法,能够减弱目标合成轨迹延迟及运动模型不确定性的影响,获得更准确的加速度前馈值。实验结果表明,该方法可以提高系统在0.1 Hz~4.5 Hz的跟踪能力。In a class of photoelectric tracking systems with only the target image sensor and MEMS accelerometer installed,an equivalent acceleration feedforward control method can improve the tracking ability of the system effectively.However,due to the low-frequency noise of accelerometers,the delay of the synthetic trajectory and the uncertainty of the movement model,the tracking accuracy will be limited.Therefore,in this paper,an equivalent acceleration feedforward method based on sensor optimization and robust prediction is proposed to further improve the tracking ability of the system.The frequency-domain fusion using the accelerometer measurement and the calculated acceleration can optimize the low-frequency performance of the accelerometer.Meanwhile,the robust prediction algorithm can reduce the impact of the delay of the synthetic trajectory and the uncertainty of the movement model and give more accurate feedforward acceleration.The experiment shows that this method can further improve the tracking ability of 0.1 Hz~4.5 Hz.

关 键 词：等效加速度前馈 传感器优化 鲁棒预测 光电跟踪系统 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置] P273.3[自动化与计算机技术—控制科学与工程]