滚摆式导引头过顶跟踪控制策略研究
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摘要
滚-摆式导引头框架角大，结构紧凑，能够实现对前半球视场的覆盖。但是其特有的过顶跟踪问题，即在小离轴角对目标跟踪时会产生奇异这一点制约了滚-摆式导引头的应用。针对滚-摆式导引头的过顶跟踪问题，本文从系统数学描述、跟踪策略制定、控制器设计、跟踪实验几个方面展开了相关的研究。
论文首先分析了由图像处理器提供的脱靶量信息解算出导引头角位置指令的解析算法，说明了过顶问题的产生根源，给出了过顶跟踪问题的数学描述，为解决滚-摆式导引头的过顶跟踪问题提供了基本理论依据。
在以上分析的基础上，设计了滚转框和摆动框控制器，首先使伺服系统满足给定的稳态和动态指标。分析了影响系统精度的主要误差源，着重研究了微机械陀螺的误差项和误差模型，以及陀螺输出精度对伺服系统速度误差的影响。然后提出了基于摆动框角度、目标脱靶量、目标运动速度及系统指标的滚-摆式导引头过顶控制策略。最后，为减小目标进出过顶盲区时的指令的阶跃，设计了基于“当前”加速度模型的机动目标卡尔曼滤波器，实时预测出目标下一时刻的位置、速度和加速度信息，增加了过顶跟踪过程中运动的稳定性。
为验证和测试滚-摆式导引头过顶控制器的性能，搭建了导引头伺服系统通用开发平台。平台集成了数据转换卡、串口卡、电机驱动器等硬件资源，可以完成通信协议测试、机电系统模型测试、控制器开发与测试以及导引头整机联调等功能。在此平台的基础上，设计目标多次进出过顶盲区的运动方式，实验表明，在没有应用过顶跟踪控制器的情况下，系统的盲区约为±2.5°；应用过顶跟踪控制器后，系统可以实现平稳过顶跟踪，盲区内跟踪误差y方向为1.8mrad，z方向为2.2mrad。实验结果证明，控制器可以实现对目标的过顶跟踪。
With its advantages of big gimbal angle and smart size, the Roll-Pitch seeker caneasily cover hemisphere of a seeker. On the contrary, the particular disadvantage ofRoll-Pitch seeker is the zenith pass problem that is when a manoeuvreable target ismoving in the range of small abaxial angle, the calculated servo command willbecome singular which will result in the loss of target. The application of Roll-Pitchseeker in the Air-to-Air is severely restricted by its zenith pass problem. Aimed atsolving the zenith pass problem in a Roll-Pitch seeker, this paper is consist ofmodeling of zenith pass problem, tracking strategy analysis, servo controller design,tracking test and conclusions.
The algorithm of getting angle increment command from deviation pixels on theimage plane is presented at the beginning. The presented algorithm is the origin ofzenith pass problem, so the description of zenith pass problem is given in sequence.This section is the theory basis of solving zenith pass problem.
For solving the zenith pass problem in Roll-Pitch seeker, roll gimbal controllerand pitch gimbal controller are designed first to satisfying dynamic and steady staterequirement of the servo system. Errors that mainly influent the tracking precision arepresented as follows, gyroscope error, servo error and image error. Gyroscope error isemphatically studied as well as its impact in the servo control system. And then thecontrol strategy for zenith pass problem is introduced, and the strategy is based on three input conditions which are pitch angle, target deviation pixels on image planeand target moving rate. Although the strategy works effectively, but it is notsufficiently effective. There is still risk of loss of target, so the self adaptive Kalmanfilter is designed here to predict the next time position, velocity and acceleration oftarget. With the predicted information target tracking process can be more smoothlyachieved.
In order to verify and test performance of the zenith pass strategy controller, aplatform consist of AD/DA conversion card, serial communication card, motor driverand so on is built. With this platform it is convenient to do jobs such ascommunication protocol test, seeker model identification, servo controller design andtest. A target movement manner is set that the target passes through the zenith zoneseveral times. Validity of the strategy for zenith pass problem is tested and the resultindicates that it works well.
The whole paper is focused on how to deal with zentith pass problem, andmainly discusses the following content, description of zenith pass problem, gyroscopeerrors, self adaptive Kalman filter and strategy design for zenith pass problem. Thefinal experiment said that without using strategy for zenith pass problem the zenithblind zone is about±2.5°while with using the strategy target can be smoothly trackedand the tracking error in y direction is1.8mrad as well in z direction2.2mrad. It isproved that zenith pass tracking controller can solve the zenith pass problem.
论文首先分析了由图像处理器提供的脱靶量信息解算出导引头角位置指令的解析算法，说明了过顶问题的产生根源，给出了过顶跟踪问题的数学描述，为解决滚-摆式导引头的过顶跟踪问题提供了基本理论依据。
在以上分析的基础上，设计了滚转框和摆动框控制器，首先使伺服系统满足给定的稳态和动态指标。分析了影响系统精度的主要误差源，着重研究了微机械陀螺的误差项和误差模型，以及陀螺输出精度对伺服系统速度误差的影响。然后提出了基于摆动框角度、目标脱靶量、目标运动速度及系统指标的滚-摆式导引头过顶控制策略。最后，为减小目标进出过顶盲区时的指令的阶跃，设计了基于“当前”加速度模型的机动目标卡尔曼滤波器，实时预测出目标下一时刻的位置、速度和加速度信息，增加了过顶跟踪过程中运动的稳定性。
为验证和测试滚-摆式导引头过顶控制器的性能，搭建了导引头伺服系统通用开发平台。平台集成了数据转换卡、串口卡、电机驱动器等硬件资源，可以完成通信协议测试、机电系统模型测试、控制器开发与测试以及导引头整机联调等功能。在此平台的基础上，设计目标多次进出过顶盲区的运动方式，实验表明，在没有应用过顶跟踪控制器的情况下，系统的盲区约为±2.5°；应用过顶跟踪控制器后，系统可以实现平稳过顶跟踪，盲区内跟踪误差y方向为1.8mrad，z方向为2.2mrad。实验结果证明，控制器可以实现对目标的过顶跟踪。
With its advantages of big gimbal angle and smart size, the Roll-Pitch seeker caneasily cover hemisphere of a seeker. On the contrary, the particular disadvantage ofRoll-Pitch seeker is the zenith pass problem that is when a manoeuvreable target ismoving in the range of small abaxial angle, the calculated servo command willbecome singular which will result in the loss of target. The application of Roll-Pitchseeker in the Air-to-Air is severely restricted by its zenith pass problem. Aimed atsolving the zenith pass problem in a Roll-Pitch seeker, this paper is consist ofmodeling of zenith pass problem, tracking strategy analysis, servo controller design,tracking test and conclusions.
The algorithm of getting angle increment command from deviation pixels on theimage plane is presented at the beginning. The presented algorithm is the origin ofzenith pass problem, so the description of zenith pass problem is given in sequence.This section is the theory basis of solving zenith pass problem.
For solving the zenith pass problem in Roll-Pitch seeker, roll gimbal controllerand pitch gimbal controller are designed first to satisfying dynamic and steady staterequirement of the servo system. Errors that mainly influent the tracking precision arepresented as follows, gyroscope error, servo error and image error. Gyroscope error isemphatically studied as well as its impact in the servo control system. And then thecontrol strategy for zenith pass problem is introduced, and the strategy is based on three input conditions which are pitch angle, target deviation pixels on image planeand target moving rate. Although the strategy works effectively, but it is notsufficiently effective. There is still risk of loss of target, so the self adaptive Kalmanfilter is designed here to predict the next time position, velocity and acceleration oftarget. With the predicted information target tracking process can be more smoothlyachieved.
In order to verify and test performance of the zenith pass strategy controller, aplatform consist of AD/DA conversion card, serial communication card, motor driverand so on is built. With this platform it is convenient to do jobs such ascommunication protocol test, seeker model identification, servo controller design andtest. A target movement manner is set that the target passes through the zenith zoneseveral times. Validity of the strategy for zenith pass problem is tested and the resultindicates that it works well.
The whole paper is focused on how to deal with zentith pass problem, andmainly discusses the following content, description of zenith pass problem, gyroscopeerrors, self adaptive Kalman filter and strategy design for zenith pass problem. Thefinal experiment said that without using strategy for zenith pass problem the zenithblind zone is about±2.5°while with using the strategy target can be smoothly trackedand the tracking error in y direction is1.8mrad as well in z direction2.2mrad. It isproved that zenith pass tracking controller can solve the zenith pass problem.
引文
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