光电跟踪自抗扰控制技术研究

发布时间：2018-09-03 07:46

【摘要】：为了实现对快速运动目标高精度跟踪,对光电跟踪系统中的自抗扰控制技术进行了研究。根据速度闭环传递函数,利用三阶非线性扩张观测器估计系统状态变量,实现对不确定性因素的补偿,通过改变位置环被控对象传递函数提高系统的跟踪精度。对系统进行仿真与实验研究,分析自抗扰控制对光电跟踪系统动态和稳态性能的影响,与PI控制相对比,结果表明:对于高速运动目标,利用自抗扰控制技术可以将系统的跟踪精度提高7倍左右;对于低速运动目标,由于摩擦和系统噪声的影响,系统的跟踪精度仅提高了4倍左右。若在控制回路中引入相位超前环节,可以将系统的超调量降低40%,进一步改善了系统的动态性能,该技术的实现对于高精度跟踪控制的研究具有重要的应用价值。
[Abstract]:In order to achieve high precision tracking of fast moving targets, the active disturbance rejection control technology in photoelectric tracking system is studied. According to the velocity closed-loop transfer function, the third-order nonlinear extended observer is used to estimate the state variables of the system to compensate for the uncertainty. The tracking accuracy of the system is improved by changing the transfer function of the controlled object in the position loop. The simulation and experiment of the system are carried out, and the influence of ADRC on the dynamic and steady performance of the photoelectric tracking system is analyzed. The results show that: for the high speed moving target, compared with the PI control, The tracking accuracy of the system can be improved by about 7 times by using the ADRC technique, but the tracking accuracy of the system can only be improved by about 4 times because of the influence of friction and system noise. If the phase leading link is introduced into the control loop, the overshoot of the system can be reduced by 40%, and the dynamic performance of the system can be further improved. The realization of this technology has important application value for the research of high-precision tracking control.
【作者单位】：中国科学院长春光学精密机械与物理研究所激光与物质相互作用国家重点实验室;中国科学院大学;
【基金】：十二五预研项目(2015syhz0023)
【分类号】：TN29;TP273

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