某型自主防空火箭炮伺服跟踪系统研究
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摘要
在做好未来军事斗争准备过程中,面临的一个迫切任务就是防空反导,多管火箭炮火力猛,机动灵活,价格低廉,用于防空反导有其独特的优势。本文对某自主防空火箭炮伺服跟踪系统进行了研究,为了提高防空火箭炮对目标的捕获能力,关键就是要对运动目标迅速做出响应,减小超调量。本文针对火箭炮伺服跟踪系统具有参数变化大、负载特性恶劣、冲击扰动力矩大的特点,在深入分析了常规二维模糊控制器量化因子和比例因子对控制性能影响的基础上,将一种改进的模糊PID控制算法应用到自主防空火箭炮伺服跟踪系统中,理论分析和仿真结果表明该控制策略能有效地提高防空火箭炮系统的跟踪精度,具有较强的自适应能力和鲁棒性,保证了目标跟踪精度；考虑到红外成像具有夜间和恶劣气候下的工作能力,能够得到高分辨率的目标图像,据此本文提出了一种基于非线性滤波的红外目标跟踪技术用于自主防空火箭炮系统对目标的跟踪,实验证明此算法能对红外目标进行有效、准确的跟踪。
最后对自主防空火箭炮伺服跟踪系统的总体方案进行了设计,重点对控制系统进行了详细设计以及控制算法的具体实现；然后以自主防空火箭炮样机为实验平台,进行了经典PID控制和自适应模糊PID控制实验,通过实验验证了自适应模糊PID算法能够更好的提升系统的性能,具有一定的工程应用价值。
Preparations for military struggle in the course of the future, an urgent task is to the air defense and antimissile. Multiple rocket launcher has its unique advantages for the air defense and antimissile because of fire heavy, flexible, low prices. In this paper, a servo tracking system of self-defense rocket launcher is studied, in order to improve the ability of the air defense rocket to capture the target, the key is to respond moving target rapidly, point out the target location with less overshoot. In this paper, due to a large parameter variations, poor load characteristics, the strong impact of disturbance torque in the servo tracking of the self-defense rocket system, an improved fuzzy PID control algorithm with thorough analyzing convention two-dimensional fuzzy controller is applied to servo tracking system of the independent anti-aircraft rockets and its the concrete realization is studied in depth and detail; theoretical analysis and experimental results show that there is better adaptive ability and robustness to ensure the accuracy of target tracking. On account of the ability of the infrared imaging to obtain high-resolution target image in the night and under adverse weather conditions, thus this paper, a nonlinear filter with infrared tracking technology is advanced for the self-defense rocket to track the target,experiments show that this algorithm can track the infrared target effectively and accurately.
Finally, the overall proposal of the servo tracking system of anti-aircraft rockets is designed, focus on the control system being designed in detail as well as the concrete realization of control algorithm; then the prototype of self-defense rocket as the experimental platform to carry out the classic PID control and adaptive fuzzy PID control experiment, which proved adaptive fuzzy PID algorithm with some value in engineering is better to improve the system performance.
最后对自主防空火箭炮伺服跟踪系统的总体方案进行了设计,重点对控制系统进行了详细设计以及控制算法的具体实现；然后以自主防空火箭炮样机为实验平台,进行了经典PID控制和自适应模糊PID控制实验,通过实验验证了自适应模糊PID算法能够更好的提升系统的性能,具有一定的工程应用价值。
Preparations for military struggle in the course of the future, an urgent task is to the air defense and antimissile. Multiple rocket launcher has its unique advantages for the air defense and antimissile because of fire heavy, flexible, low prices. In this paper, a servo tracking system of self-defense rocket launcher is studied, in order to improve the ability of the air defense rocket to capture the target, the key is to respond moving target rapidly, point out the target location with less overshoot. In this paper, due to a large parameter variations, poor load characteristics, the strong impact of disturbance torque in the servo tracking of the self-defense rocket system, an improved fuzzy PID control algorithm with thorough analyzing convention two-dimensional fuzzy controller is applied to servo tracking system of the independent anti-aircraft rockets and its the concrete realization is studied in depth and detail; theoretical analysis and experimental results show that there is better adaptive ability and robustness to ensure the accuracy of target tracking. On account of the ability of the infrared imaging to obtain high-resolution target image in the night and under adverse weather conditions, thus this paper, a nonlinear filter with infrared tracking technology is advanced for the self-defense rocket to track the target,experiments show that this algorithm can track the infrared target effectively and accurately.
Finally, the overall proposal of the servo tracking system of anti-aircraft rockets is designed, focus on the control system being designed in detail as well as the concrete realization of control algorithm; then the prototype of self-defense rocket as the experimental platform to carry out the classic PID control and adaptive fuzzy PID control experiment, which proved adaptive fuzzy PID algorithm with some value in engineering is better to improve the system performance.
引文
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[8]宋传玉,永磁同步电机的模糊神经网络控制方法[J].电机控制与应用,2008,35(6)：24-26
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[12]Ahmed Rubaai. DSP-Based Laboratory Implementation of Hybrid Fuzzy-PID Controller Using Genetic Optimization for High-Performance Motor Drives [C]. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS,2008,44(6):1090-1098
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[15]冯亮,马晓军,闫之峰等.坦克炮控系统自适应模糊滑模控制方法[J].电机与控制学报,2007,11(1)：65-69
[16]张剑,许镇琳.永磁交流伺服系统参数自学习模糊控制器设计与实现[J].电机与控制学报,2005,9(2)：175-178
[17]Zhi-Wei Woo, Hung-Yuan Chung, Jin-Jye Lin. A PID type fuzzy controller with self-tuning scaling factors[J]. Fuzzy Sets and Systems,2002,115:321-326
[18]汪书苹,赵争鸣.带修正因子模糊PID控制的PMSM交流伺服系统[J].清华大学学报,2007,47(1)：9-12
[19]鲍燕伟.基于DSP气动伺服系统的智能模糊PID控制[J].液压与气动,2010,7：29-32
[20]徐凯.一种时间最优参数自调整模糊矢量控制方法的研究[J].控制与决策,2010,25(1)：153-160
[21]叶盛,黄守道,李高林等.模糊控制在永磁同步电动机伺服系统中的应用[J].电力电子技术,2010,44(8)：64-65
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[25]郑存红.复杂背景下相关跟踪算法的研究[J].光学与光电技术,2007,6(5)：49-51
[26]靳鹏飞.基于自适应模板相关跟踪算法的研究[J].西安邮电学院学报,2007,12(1)：44-47
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[29]汪颖进,张桂林.新的基于Kalman滤波的跟踪方法[J].红外与激光工程,2007,35(5)：505-508
[30]张苗辉.基于UKF的机动目标跟踪算法[J].火力与指挥控制,2007,32(8)：37-39
[31]杨磊.复杂背景条件下的红外小目标检测与跟踪算法研究[D].上海交通大学,2006
[32]Li P,Zhang T, Ma B. Unscented Kalman Filter for Visual Curve Tracking [J]. Image and Vision Computing,2004,22(2):157-164
[33]程建,周越,蔡念等.基于粒子滤波的红外目标跟踪[J].红外与毫米波学报,2006,25(2)：113-117
[34]任彪,周浩,马东辉等.一种基于粒子滤波的红外弱小目标跟踪方法[J].光电技术应用,2008,23(2)：66-69
[35]Evgeni Kiriy,Hannah Michalska, Guy Michaud. Particle Filter Application to Localization [J].NATO Science for Peace and Security Series C:Environmental Security, 2009:317-327
[36]Ng. William.Ji, Chunlin.Ma. W-K.,So. H. C. A Study on Particle Filters for Single-Tone Frequency Tracking [J].Aerospace and Electronic Systems, IEEE Transactions on, 2009,45(3):1111-1125
[37]Yaxin Gong,Hongwen Yang,Weidong Hu,Wenxian Yu. An efficient particle filter based distributed track-before-detect algorithm for weak targets [J].IET Conf. Pub., 2009(551):321-326
[38]Ravindra Kumar Sharma, Vivek Sanadhya, Laxmi-dhar Behera. Vector control of a permanent magnet Synchronous Motor[J]. IEEE India Conference,2008, (1):81-86
[39]廖晓钟,刘向东.控制系统分析与设计[M].北京：清华大学出版社,2008
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