车载光电跟踪系统的设计与研究
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摘要
光电跟踪技术是当代电视与红外技术的重要军事应用之一,随着光电监视、跟踪、侦察系统在军事上的广泛应用,系统的要求不断提高。通过陀螺稳定平台隔离载体的振动,获得相对惯性空间稳定的平台,以电视跟踪器输出控制指令的驱动下,实现光电载荷对目标的搜索、捕获、跟踪和定位。因此车载光电跟踪系统实现两大功能:一是稳定空间,二是跟踪目标。
本文概述了国内外光电跟踪系统的结构和视轴稳定方法以及光电产品的发展概况,给出了常用的稳定与跟踪控制方法。进而从理论上分析了两轴光电伺服系统工作原理,对稳定和跟踪控制系统的主要环节进行了建模与仿真,从而为伺服系统的设计提供了理论依据。本文从电视跟踪系统的特点出发,主要做了以下研究工作:
首先介绍了光电跟踪器系统的总体技术,包括稳定平台结构设计,伺服系统设计和硬件设计。
其次介绍了视频跟踪技术、陀螺稳定系统和电视跟踪系统的原理及特点。研究了被动减振和控制系统稳像的特点。对稳定和跟踪控制系统的主要环节进行了建模,并建立了伺服控制系统的数学模型并利用Matlab进行了仿真并进行了仿真分析,仿真结果满足指标要求。
最后针对系统中红外和电视脱靶量具有较大延迟的问题,得出延迟越大,系统可实现的开环截止频率越小,跟踪精度越低的结论。为提高跟踪精度,克服延迟的影响。
The electro-optic tracking technology is that the present age TV and infrared the important technique military application. With the wide application of electro-optic reconnaissance, tracking and surveillance to military, The swing from the carrier is isolated by the gyro stabilized platform, and it will get a environment which is stabilized relative to the inertial space. Under the TV tracker output the control command.And it will realize searching, capture, tracking. So the vehicle opto-electric tracking system has two functions: to realize the space stabilization, and to track the object.
The general situation having summarized, has been put up stability in common use and tracking under the control of method the main body of this paper. And then from having analysed a two scroll of photoelectricity servosystem operating principle theoretically, theory basis having been in progress building a model and simulating , having provided to the servosystem design thereby to a key link stabilizing and tracking navar's. The characteristic the main body of this paper is tracked systematically from TV has started off , has made the following mainly studying a job:
The author firstly introduced the systematic population of TV tracking implement technology first, including the steady platform structural design, hardware design.
Principle and characteristic of the tracking technology , stable system of top and TV tracking system having introduced video frequency secondly. Characteristic having studied passive subtraction shakes and controls the steady image of system. And have been in progress to a key link stabilizing and tracking navar's building a model, the satisfied index having built systematic mathematic model of servo control and having made use of Matlab to have carried out the analytical , simulated result having simulated and being in progress to simulate demands.
Finally, specifically for system is hit by infrared sum TV missing the target in shooting practice, amounts have the more delay problem , reach the conclusion postponing getting over realizable ring opening of large scale system, stoppage frequency feeling lower , as small , tracking accuracy more. Track accuracy for rise , overcome delay effect.
本文概述了国内外光电跟踪系统的结构和视轴稳定方法以及光电产品的发展概况,给出了常用的稳定与跟踪控制方法。进而从理论上分析了两轴光电伺服系统工作原理,对稳定和跟踪控制系统的主要环节进行了建模与仿真,从而为伺服系统的设计提供了理论依据。本文从电视跟踪系统的特点出发,主要做了以下研究工作:
首先介绍了光电跟踪器系统的总体技术,包括稳定平台结构设计,伺服系统设计和硬件设计。
其次介绍了视频跟踪技术、陀螺稳定系统和电视跟踪系统的原理及特点。研究了被动减振和控制系统稳像的特点。对稳定和跟踪控制系统的主要环节进行了建模,并建立了伺服控制系统的数学模型并利用Matlab进行了仿真并进行了仿真分析,仿真结果满足指标要求。
最后针对系统中红外和电视脱靶量具有较大延迟的问题,得出延迟越大,系统可实现的开环截止频率越小,跟踪精度越低的结论。为提高跟踪精度,克服延迟的影响。
The electro-optic tracking technology is that the present age TV and infrared the important technique military application. With the wide application of electro-optic reconnaissance, tracking and surveillance to military, The swing from the carrier is isolated by the gyro stabilized platform, and it will get a environment which is stabilized relative to the inertial space. Under the TV tracker output the control command.And it will realize searching, capture, tracking. So the vehicle opto-electric tracking system has two functions: to realize the space stabilization, and to track the object.
The general situation having summarized, has been put up stability in common use and tracking under the control of method the main body of this paper. And then from having analysed a two scroll of photoelectricity servosystem operating principle theoretically, theory basis having been in progress building a model and simulating , having provided to the servosystem design thereby to a key link stabilizing and tracking navar's. The characteristic the main body of this paper is tracked systematically from TV has started off , has made the following mainly studying a job:
The author firstly introduced the systematic population of TV tracking implement technology first, including the steady platform structural design, hardware design.
Principle and characteristic of the tracking technology , stable system of top and TV tracking system having introduced video frequency secondly. Characteristic having studied passive subtraction shakes and controls the steady image of system. And have been in progress to a key link stabilizing and tracking navar's building a model, the satisfied index having built systematic mathematic model of servo control and having made use of Matlab to have carried out the analytical , simulated result having simulated and being in progress to simulate demands.
Finally, specifically for system is hit by infrared sum TV missing the target in shooting practice, amounts have the more delay problem , reach the conclusion postponing getting over realizable ring opening of large scale system, stoppage frequency feeling lower , as small , tracking accuracy more. Track accuracy for rise , overcome delay effect.
引文
[1]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,光电与控制,1998,12(2): 21-24
[2]王永初.滞后过程的预估与控制.北京:机械工业出版社,1987.58-62
[3]周宏仁,敬忠良,王培德,机动目标跟踪,北京:国防工业出版社,1991.168-172
[4]郭富强,于波,汪叔华,陀螺稳定装置及其应用,西安:西北工业大学出版社,1995.36-38
[5]黄惟一,陀螺仪器原理,北京:国防工业出版社,1987.118-122
[6]南京航空学院航空陀螺仪编写组,航空陀螺仪原理,北京:国防工业出版社,1981. 137-139
[7]谈振藩,周宏宇,导航信息系统转换,北京:国防工业出版社,1992. 177-179
[8]秦继荣,沈安俊,现代直流伺服控制技术及其系统设计,北京:机械工业出版社,1999.87-92
[9]梅遂生,光电子技术,北京:国防工业出版社.1999.178-179
[10]李尊民,视频跟踪原理,北京国防工业出版社,1988.128-129
[11]黄立新,张明谦.视频跟踪系统模型研究,舰船科学技术,2006,28(214): 15-16
[12]胡朝晖,汪凯,车奇,机载光电跟踪系统作用距离建模与仿真,探测与控制学报,2005,(4):25-26
[13]纪世华,红外传感器瞄准线的稳定,舰船光学,1993,6(2):11-12
[14]马佳光,捕获跟踪与瞄准系统的基本技术问题,光学工程.1989,8(3):1-4
[15]张健民,舰载光电三轴视场稳定技术的研究,舰船光学,2003,126(1):14-17
[16]谷素梅,大型光学惯性稳定跟踪仪器稳像精度测试系统原理方案探讨,应用光学,1998,19(6):5-8
[17]高宏昌,机载电视瞄准线稳定系统仿真研究与实施.光电与控制,1992,6(3):16-17
[18]俞文伯,传动反射镜方式陀螺稳定平台的稳定性,火力与指挥控制,1992,16(2):19-20
[19]邓可,胡凯,胡建平,一种通用红外成像跟踪试验装置的设计,北京航空航天大学学报,2006.26(5):5-8
[20]吴凡,杨小军,曹剑中,基于DSP的光轴稳定平台控制系统,科学技术与工程,2005.23(19):36-37
[21]冯永利,杨文淑,陀螺稳定控制系统设计与仿真.光电工程,2003.17(1):33-34
[22]吴麒.自动控制原理(上)[M].北京:清华大学出版社,1990. 111-112
[23]张葆,贾平,黄猛,动载体成像模糊的振动被动控制技术[J],光学技术.2002.29(3):281-283
[24]李大健,无人机光电侦查设备控制系统设计研究[J],光子学报.1999.21(28):267-270
[25]吴晓莉,林哲辉,MATLAB辅助模糊系统设计,西安:西安电子科技大学出版社,2002.237-239
[26]李国勇,智能控制及其MATLAB实现,北京:电子工业出版社,2005. 237-239
[27]薛定宇,控制系统计算机辅助设计,北京:清华大学出版社,1996. 317-319
[28]楼顺天,于卫,基于MATLAB的系统用分析与设计-控制系统,西安:西安电子科技大学出版社.1999. 257-259
[29]许敏,李少远,广义预测控制的快速算法与应用,系统工程与电子技术,2002.17(1):33-34
[30]苏建刚等,瞄准线稳定精度的室内测试技术[J],光学精密工程,1999,7(5):95-99
[31] G.K.I.Mann,B.G.Hu and R.G.Gosine.Time domain based design and anslysis of new PID tuning rules.IEEE Proc-control Theory 2001.148(3),May 2001:77-78
[32] D.R.Wilson.Modern Practice in Servo Design,1970. 217-219
[33] Tong S C,Wang T,Li H X.Fuzzy robust tracking control for uncertain nonlinear systems.International Journal of Approximate Reasoning,2002. 243-244
[2]王永初.滞后过程的预估与控制.北京:机械工业出版社,1987.58-62
[3]周宏仁,敬忠良,王培德,机动目标跟踪,北京:国防工业出版社,1991.168-172
[4]郭富强,于波,汪叔华,陀螺稳定装置及其应用,西安:西北工业大学出版社,1995.36-38
[5]黄惟一,陀螺仪器原理,北京:国防工业出版社,1987.118-122
[6]南京航空学院航空陀螺仪编写组,航空陀螺仪原理,北京:国防工业出版社,1981. 137-139
[7]谈振藩,周宏宇,导航信息系统转换,北京:国防工业出版社,1992. 177-179
[8]秦继荣,沈安俊,现代直流伺服控制技术及其系统设计,北京:机械工业出版社,1999.87-92
[9]梅遂生,光电子技术,北京:国防工业出版社.1999.178-179
[10]李尊民,视频跟踪原理,北京国防工业出版社,1988.128-129
[11]黄立新,张明谦.视频跟踪系统模型研究,舰船科学技术,2006,28(214): 15-16
[12]胡朝晖,汪凯,车奇,机载光电跟踪系统作用距离建模与仿真,探测与控制学报,2005,(4):25-26
[13]纪世华,红外传感器瞄准线的稳定,舰船光学,1993,6(2):11-12
[14]马佳光,捕获跟踪与瞄准系统的基本技术问题,光学工程.1989,8(3):1-4
[15]张健民,舰载光电三轴视场稳定技术的研究,舰船光学,2003,126(1):14-17
[16]谷素梅,大型光学惯性稳定跟踪仪器稳像精度测试系统原理方案探讨,应用光学,1998,19(6):5-8
[17]高宏昌,机载电视瞄准线稳定系统仿真研究与实施.光电与控制,1992,6(3):16-17
[18]俞文伯,传动反射镜方式陀螺稳定平台的稳定性,火力与指挥控制,1992,16(2):19-20
[19]邓可,胡凯,胡建平,一种通用红外成像跟踪试验装置的设计,北京航空航天大学学报,2006.26(5):5-8
[20]吴凡,杨小军,曹剑中,基于DSP的光轴稳定平台控制系统,科学技术与工程,2005.23(19):36-37
[21]冯永利,杨文淑,陀螺稳定控制系统设计与仿真.光电工程,2003.17(1):33-34
[22]吴麒.自动控制原理(上)[M].北京:清华大学出版社,1990. 111-112
[23]张葆,贾平,黄猛,动载体成像模糊的振动被动控制技术[J],光学技术.2002.29(3):281-283
[24]李大健,无人机光电侦查设备控制系统设计研究[J],光子学报.1999.21(28):267-270
[25]吴晓莉,林哲辉,MATLAB辅助模糊系统设计,西安:西安电子科技大学出版社,2002.237-239
[26]李国勇,智能控制及其MATLAB实现,北京:电子工业出版社,2005. 237-239
[27]薛定宇,控制系统计算机辅助设计,北京:清华大学出版社,1996. 317-319
[28]楼顺天,于卫,基于MATLAB的系统用分析与设计-控制系统,西安:西安电子科技大学出版社.1999. 257-259
[29]许敏,李少远,广义预测控制的快速算法与应用,系统工程与电子技术,2002.17(1):33-34
[30]苏建刚等,瞄准线稳定精度的室内测试技术[J],光学精密工程,1999,7(5):95-99
[31] G.K.I.Mann,B.G.Hu and R.G.Gosine.Time domain based design and anslysis of new PID tuning rules.IEEE Proc-control Theory 2001.148(3),May 2001:77-78
[32] D.R.Wilson.Modern Practice in Servo Design,1970. 217-219
[33] Tong S C,Wang T,Li H X.Fuzzy robust tracking control for uncertain nonlinear systems.International Journal of Approximate Reasoning,2002. 243-244