车载光电跟瞄系统控制技术研究

发布时间：2018-09-01 13:03

【摘要】：车载光电跟瞄系统能够在随载车运动的过程中实现对目标的跟踪、测量,并具备对特定目标进行光电跟踪瞄准的能力。信息战的不断发展、受保护的重要设施数量的增加、提高光电对抗效率和设备自身生存能力的现实需要,一方面将使车载光电跟瞄系统得到更加广泛的应用,另一方面也对车载光电跟瞄系统的关键性能提出了更高要求。跟踪转台、快速反射镜是车载光电跟瞄系统的重要组成部分,研究如何对其进行伺服控制并提高控制系统的性能,是目前迫切需要进行解决的重要问题。本文围绕如何提高车载光电跟瞄系统的跟踪精度、动态特性、稳定性及指向精度等问题,在跟踪转台的高性能控制、快速反射镜的高精度控制、跟踪转台视轴扰动补偿三个方面进行了深入探讨与研究,并对有关研究成果进行了仿真分析和实验验证。首先,介绍了车载光电跟瞄系统的机械结构、导光光路、跟踪转台与快速反射镜的伺服控制系统,在此基础上进行后续问题的研究。其次,以跟踪转台为控制对象,采用滞后超前校正方法设计了双闭环伺服控制器,介绍了模糊控制原理并设计了用于实现位置环校正的模糊控制器,构建了结合滞后超前校正器与模糊控制器优点的复合型控制器。通过仿真与实验对该复合型控制器的性能进行了验证分析。再次,简单介绍了快速反射镜的用途和结构形式,利用双模控制技术实现快速反射镜的控制。理论计算了快速反射镜方位轴和俯仰轴的被控对象传递函数,并完成了快速反射镜伺服系统的设计。推导了描述快速反射镜姿态角与转台跟踪误差之间关系的数学解析表达式。通过位置定点实验和跟踪实验,验证了快速反射镜伺服系统的响应速度、抗扰能力与跟踪精度。然后,分析了车体运动对转台的影响,建立了相关坐标系,推导了转台视轴的位置扰动模型与速度扰动模型。考虑到惯导安装误差,改进了视轴扰动模型。构建了基于视轴扰动速度前馈法的复合控制,对视轴扰动进行补偿,实现动基座条件下视轴稳定的目的。最后分析验证了转台伺服系统在补偿视轴扰动前后的跟踪精度。最后,在车载光电跟瞄系统上进行了相关实验,验证本文在跟踪转台复合控制问题、快速反射镜控制问题、视轴稳定问题上的研究成果。结果表明,本文所进行的研究能够改善车载光电跟踪设备伺服系统在跟踪精度、动态特性、稳定性及指向精度等方面的表现。
[Abstract]:The vehicle photoelectric tracking and aiming system can track and measure the target in the course of moving with the vehicle, and has the ability of photoelectric tracking and aiming at the specific target. With the continuous development of information warfare, the increase in the number of important protected facilities, the practical need to improve the efficiency of optoelectronic countermeasures and the survivability of the equipment itself, on the one hand, the on-board photoelectric tracking and pointing system will be more widely used. On the other hand, the key performance of vehicle photoelectric tracking and aiming system is also required. Tracking turntable and fast reflector is an important part of vehicle photoelectric tracking and pointing system. It is an important problem to study how to control it servo and improve the performance of the control system. This paper focuses on how to improve the tracking accuracy, dynamic characteristics, stability and pointing accuracy of the vehicle photoelectric tracking and pointing system, the high performance control of the tracking turntable and the high precision control of the fast reflector. In this paper, three aspects of disturbance compensation of the tracking turntable are discussed and studied in depth, and the results of the research are simulated and verified by experiments. Firstly, the paper introduces the mechanical structure of the vehicle photoelectric tracking and pointing system, the optical guide path, the servo control system of the tracking table and the fast reflector, and carries on the follow-up research on this basis. Secondly, taking the tracking turntable as the control object, the double closed loop servo controller is designed by using the method of lag leading correction. The fuzzy control principle is introduced and the fuzzy controller used to realize the position loop correction is designed. A composite controller combining the advantages of lag lead corrector and fuzzy controller is constructed. The performance of the composite controller is verified and analyzed by simulation and experiment. Thirdly, the application and structure of the fast mirror are briefly introduced, and the control of the fast mirror is realized by using the dual mode control technology. The transfer function of the controlled object of the azimuth and pitch axis of the fast reflector is calculated theoretically, and the design of the servo system of the fast mirror is completed. A mathematical analytical expression describing the relationship between the attitude angle of the fast reflector and the tracking error of the turntable is derived. The response speed, anti-disturbance ability and tracking accuracy of the fast mirror servo system are verified by position fixed point experiment and tracking experiment. Then, the influence of the motion of the car body on the turntable is analyzed, the relative coordinate system is established, and the position disturbance model and the velocity perturbation model of the turntable visual axis are derived. Considering the installation error of inertial navigation, the disturbance model of visual axis is improved. The compound control based on the speed feedforward method of the visual axis disturbance is constructed to compensate the disturbance of the viewing axis and to realize the stability of the axis of view under the condition of moving base. Finally, the tracking accuracy of the turntable servo system before and after compensating the disturbance of the axis of view is analyzed and verified. Finally, the related experiments are carried out on the vehicle photoelectric tracking and aiming system, which verify the research results of this paper on the compound control problem of tracking turntable, the control problem of fast reflector and the stability of visual axis. The results show that the research in this paper can improve the performance of the servo system of vehicle photoelectric tracking equipment in tracking accuracy, dynamic characteristics, stability and pointing accuracy.
【学位授予单位】：中国科学院研究生院(长春光学精密机械与物理研究所)
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TJ810.376;TP273

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