基于滤波器的低慢小伺服跟踪转台研究  

A Filter-Based Servo Turntable for Tracking LSS Targets

作　　者：茅德旺 张博 卢夏蕾 胡卫鹏[1] MAO Dewang;ZHANG Bo;LU Xialei;HU Weipeng(Xi'an Electronic Engineering Research Institute,Xi'an 710100)

机构地区：[1]西安电子工程研究所,西安710100

出　　处：《火控雷达技术》2023年第4期118-125,共8页Fire Control Radar Technology

摘　　要：雷达和红外无人机目标探测与识别技术是无人机探测预警系统的重要组成部分,它需要高性能的精密伺服转台以满足光电系统稳定成像和精确跟踪。为此,本文基于某外贸型便携式反无人机平台的系统功能和指标要求,设计了伺服跟踪转台。然后,针对转台跟踪机动目标时通讯链路延迟较大的缺点对转台控制系统展开研究,采用自适应α-β滤波器对跟踪目标角度和速度进行预测估计,并将该预测值加入PID反馈通道组成滤波器+PID的复合控制。最后,通过模拟航路和典型航路下的大疆无人机对反无人机系统开展实物测试,并与普通的PID控制器跟踪效果进行对比,实测数据表明采用自适应α-β滤波器+PID复合控制的伺服跟踪转台可有效提高光电跟踪品质,满足系统跟踪要求。Radar and infrared UAV detection and identification technology is an important part of the UAV detection and early warning systems.High-performance precision servo turntable is required for stable imaging and accurate tracking of the electric-optical systems.In this paper,a servo turntable is designed based on the system function and specification requirements of a foreign trade portable anti-UAV system.Then,we conduct research on the turntable control system in view of the large communication link delay when the turntable is used to track maneuvering targets.An adaptiveα-βfilter is used to predict the angle and speed of the tracked targets.The predicted values are sent to the PID feedback channel to form a combined filter and PID control mechanism.Finally,the anti-UAV system is tested using simulated courses and DJI UAVs flying along typical courses,and the test results are compared with the tracking effect of the ordinary PID controller.The results show that the servo turntable employing combined filter and PID control can effectively improve the electric-optical tracking performance to meet the tracking requirements of the system.

关 键 词：低慢小无人机 光电转台 伺服跟踪 自适应α-β滤波器 

分 类 号：TN95[电子电信—信号与信息处理]