光电跟踪系统的设计与实现
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摘要
动态目标跟踪技术是测试技术领域研究的前沿方向,它主要应用于军事、航天、交通等领域,特别在军事领域取得成功。光电跟踪控制系统是跟踪、侦察、定位、导航等应用领域的关键组成部分,跟踪精度是衡量光电跟踪系统的主要指标。本文以光电跟踪转台系统为研究对象,着重对伺服系统的控制结构、信号的滤波方式及控制算法进行研究。本论文主要对以下几个方面进行了研究：
首先,概述了光电跟踪系统的研究发展现状,并进一步探讨跟踪控制算法和滤波预测技术的发展概况,阐述了本文的研究意义。
其次,根据光电跟踪系统的性能指标,对光电跟踪系统的总体方案进行分析,通过比较分析各种跟踪系统的结构,最终确定光电跟踪系统的机械结构,并据此设计伺服控制系统,确定伺服控制系统的控制策略和组成结构。
然后,对跟踪控制系统建模,确定控制系统采用的电流环、速度环和位置环闭环结构,并逐环进行了设计与分析；采用DSP为核心元件设计控制器,并对整个控制系统的软件进行设计。
最后,为了提高控制精度,消除时延和噪声对系统影响,研究几种滤波方法,通过仿真平台进行分析,预测滤波方法可以有效减小跟踪误差,通过仿真结果的分析比较,从而确定稳态Kalman预测滤波方法为最优方案。通过系统调试和试验证明满足指标要求。
Dynamic target track is one of the cutting-edged tendency in the testing research field. Its main applications field include military, aerospace, transportation and other fields, especially in military field. Electro-optical tracking control system is one of the key technologies for tracking, reconnaissance, positioning, navigation and other applications. Tracking accuracy is the main indicator of the Electro-optical tracking system. In order to improve the tracking accuracy of electro-optical tracking turntable system, this paper mainly focuses on the control structure of servo system, signal filtering method and control algorithm. In this paper, the following issues are mainly studied.
Firstly, the development status of researches on the electro-optical tracking system, especially on tracking control and filtering algorithms are introduced. The meaningful contributions of the research in this paper are described in detail.
Secondly, based on the performance indicators of electro-optical tracking system, the overall structure of electro-optical tracking system is analyzed. After the comparisons of different tracking systems, the mechanical structure of the tracking system and servo control system are designed, mainly including the control strategy and system construction.
Furthermore, the model of the tracking control system is built, using three control loops including current loop, velocity loop and position loop as the closed-loop control algorithm. Also, DSP is used as the kernel of the proposed controller, and the software implementation is programmed.
Finally, several filtering algorithms are proposed, in order to improve the tracking accuracy and eliminate the disturbances of delays and noises. through the simulation analysis and comparisons, Kalman filtering method, as the optimal approach, could effectively reduce the tracking error. Then the required tracking performance of the proposed system could be fulfilled, proved the system commissioning and testing experiments.
首先,概述了光电跟踪系统的研究发展现状,并进一步探讨跟踪控制算法和滤波预测技术的发展概况,阐述了本文的研究意义。
其次,根据光电跟踪系统的性能指标,对光电跟踪系统的总体方案进行分析,通过比较分析各种跟踪系统的结构,最终确定光电跟踪系统的机械结构,并据此设计伺服控制系统,确定伺服控制系统的控制策略和组成结构。
然后,对跟踪控制系统建模,确定控制系统采用的电流环、速度环和位置环闭环结构,并逐环进行了设计与分析；采用DSP为核心元件设计控制器,并对整个控制系统的软件进行设计。
最后,为了提高控制精度,消除时延和噪声对系统影响,研究几种滤波方法,通过仿真平台进行分析,预测滤波方法可以有效减小跟踪误差,通过仿真结果的分析比较,从而确定稳态Kalman预测滤波方法为最优方案。通过系统调试和试验证明满足指标要求。
Dynamic target track is one of the cutting-edged tendency in the testing research field. Its main applications field include military, aerospace, transportation and other fields, especially in military field. Electro-optical tracking control system is one of the key technologies for tracking, reconnaissance, positioning, navigation and other applications. Tracking accuracy is the main indicator of the Electro-optical tracking system. In order to improve the tracking accuracy of electro-optical tracking turntable system, this paper mainly focuses on the control structure of servo system, signal filtering method and control algorithm. In this paper, the following issues are mainly studied.
Firstly, the development status of researches on the electro-optical tracking system, especially on tracking control and filtering algorithms are introduced. The meaningful contributions of the research in this paper are described in detail.
Secondly, based on the performance indicators of electro-optical tracking system, the overall structure of electro-optical tracking system is analyzed. After the comparisons of different tracking systems, the mechanical structure of the tracking system and servo control system are designed, mainly including the control strategy and system construction.
Furthermore, the model of the tracking control system is built, using three control loops including current loop, velocity loop and position loop as the closed-loop control algorithm. Also, DSP is used as the kernel of the proposed controller, and the software implementation is programmed.
Finally, several filtering algorithms are proposed, in order to improve the tracking accuracy and eliminate the disturbances of delays and noises. through the simulation analysis and comparisons, Kalman filtering method, as the optimal approach, could effectively reduce the tracking error. Then the required tracking performance of the proposed system could be fulfilled, proved the system commissioning and testing experiments.
引文
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[46]王晓华,敬忠良.仅有角测量的被动式机动目标跟踪.控制理论与应用,2002,19(6)：845-850页.
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[2]金钮,胡枯德,李向春.伺服系统设计指导.北京：北京理工大学出版社,2000：20-23页.
[3]张智永.光电稳定伺服机构的关键测控问题研究.国防科学技术大学博士学位论文.2006：1-5页.
[4]吴鹏.精确制导光电导引头稳定平台数字控制技术.弹箭与制导学报,2002,22(3)：37-41页.
[5]Rick Walter, Harrison Danny, Jed Donaldson, etc. Stabilized Inertial Measurement System(SIMS). Proceedings of SPIE,2002,4724:57-68P.
[6]Donald Ruffatto,Donald Brown,Richard Pohle,etc.Stabilized High-Accuracy Optical Tracking System(SHOTS).Proceedings of SPIE,2001,4365:10-18P.
[7]贾平,张葆.航空光电侦察平台关键技术及其发展.光学精密工程,2003,11(1)：82-88页.
[8]Xie Delin,Yuan Jiahu,Yang Hu.Stabilization of Line-of sight for Airborne O-E Tracking and Imaging system.SPIE Conference on Acquisition,Tracking and Pointing XII,1998,3365:191-201P.
[9]James C DeBruin. Feedforward Stabilization Testbed. SPIE,1996,2739: 204-214P.
[10]邹东明,刘栖山,陈长青,等.舰载光电跟踪设备视轴稳定分析.兵工自动化,2003,22(1)：15-19页.
[11]罗俊萍.机载光测设备视轴稳定精度分析.飞行器测控学报,2001,20(1)：50-54页.
[12]耿延洛,王合龙,周洪武.机载光电探测跟踪系统总体精度分析方法研究.电光与控制,2004,11(2)：18-20页.
[13]Jesse J. Ortega. Gunfire Performance of Stabilized Electro-Optical Sights. SPIE Conference on Acquisition,Tracking and Pointing Ⅻ,1999,3692: 74-83P.
[14]毕永利,刘洵,葛文奇,等.机载多框架陀螺稳定平台速度稳定环设计.光电工程,2004,31(2)：16-18页.
[15]Slobodan N. Vukosavic. Suppression of Torsional Oscillations in A High-Performance Speed ServoDrive. IEEE Transation on Industry Electronics,1998,45(1):108-117P.
[16]阎洁,唐建中,史维祥FUZZY控制在舰载雷达稳定平台伺服系统中的应用.兵工学报,1999,20(2)：182-185页.
[17]王合龙,朱培申,姜世发.陀螺稳定平台框架伺服系统变结构控制器的设计和仿真.电光与控制,1998,70(2)：24-29页.
[18]周宏仁,敬忠良,王培德.机动目标跟踪.北京：国防工业大学出版社,1991：11-25页.
[19]Michel Verhaegen,Paul,Van Dooren.Numerical Aspects of Diferent Kalman Filter.IEEE Transaction on Automatic Control.1986,31(10):907-917P.
[20]R A Singer, K W Benhke.Real-time Tracking Filter Evaluation and Selection for Tactical Application. IEEE Transaction on Aerospace and Electronic Systems,1991,AES-7:100-110P.
[21]James Downs,Steve Smith,Jim S,etc.High Performance Gimbal Control for Self-protection Weapon Systems.SPIE Conference on Acquisition,Tracking and Pointing XII,1998,3365:77-86P.
[22]John Murray Fitts. Aided Tracking as Applied to High Accuracy Pointing Systems.IEEE Transaction on Aerospace and Electronic Systems,1973,9(3).
[23]John S.Allenl, Joe Stufflebeam, Dan Feller. Development of a Feed-forward Controller for a Tracking Telescope.SPIE Conference on Acquisition, Tracking and Pointing ⅩⅧ,2004,5430:1-12P.
[24]王连明,葛文奇,李杰.跟踪系统中跟踪器延迟的自适应预测补偿方法.光电工程,2002,29(4)：13-16P.
[25]Zhang Hongye, Wei Wuzhong, Cai Yingzhen.Predictive Control of Optoelectronic Tracking System.Journal of Beijing Institute of Technology, 1999,8(3):270-275P.
[26]赵金宇,李文军,连远锋.电视跟踪系统脱靶量动态滞后误差的修正.电光与控制,2004,11(3)：20-22页.
[27]廖晓忠,刘向东.控制系统分析与设计.北京：清华大学出版社,2008：2-9,13-15页
[28]李文军.复合轴光电跟踪系统控制策略的研究.中国科学院研究生院博士学位论文(长春光学精密机械与物理研究所).2006：3-5页.
[29]苏奎峰,吕强,耿庆锋,陈圣俭等TMS320F2812原理与开发.北京：电子工业出版社,2006：26-32页.
[30]李尚义.三轴飞行仿真转台的总体设计及其关键技术.宇航学报.1995,16(2)：64-65页.
[31]道别林.系统的建模和响应.上海：科学技术出版社,1985：32-37页
[32]张立勋,董玉红.现代机电系统仿真与设计.哈尔滨：哈尔滨工程大学出版社,2004：68-71,132-134页.
[33]陈浩.舰载武器稳定平台控制技术研究.哈尔滨工程大学硕士论文.2007：16-20页.
[34]阮毅,陈维钧.运动控制系统.北京：清华大学出版社,2006：54-55页.
[35]陶永华,新型PID控制及其应用.北京：机械工业出版社,2002：2-8页.
[36]陈艳威.单轴速率摇摆台的研制.哈尔滨工业大学硕士学位论文.2006：27-32页.
[37]谭颖.六自由度检修机器人控制系统的研究.哈尔滨工程大学硕士学位论文.2006：26-30,36-37页.
[38]陈玉祥,张汉亚.预测技术与应用.北京：机械工业出版社,1985：1-8页.
[39]王素荣,韩计隆.信息分析与预测.北京：国防工业出版社,2007：109-114页.
[40]何书元.应用时间序列分析.北京：北京大学出版社,2005：1-14页.
[41]许江湖,张永胜.机动目标建模技术概述.现代雷达,2002,9：10-15页.
[42]黄永梅,马佳光,傅承毓.预测滤波技术在光电经纬仪中的应用仿真.光电工程,2002,29(4)：5-9页.
[43]Kalata P R.The Tracking Index:A Generalized Parameter fora-β,α-β-γTarget Trackers.IEEE Transactions on Aerospace and Electronic Systems,1984, 20(2):174-182P.
[44]Michel Verhaegen,Paul,Van Dooren.Numerical Aspects of Different Kalman Filter.IEEE Transaction on Automatic Control,1986,31(10):907-917P.
[45]吴玲,卢发兴,刘忠.UKF算法及其在目标被动跟踪中的应用.系统工程与电子技术,2005,27(1)：49-51页.
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