【作者】 孔庆珊；

【导师】 薛开；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2010， 硕士

【摘要】 动态目标跟踪技术是测试技术领域研究的前沿方向,它主要应用于军事、航天、交通等领域,特别在军事领域取得成功。光电跟踪控制系统是跟踪、侦察、定位、导航等应用领域的关键组成部分,跟踪精度是衡量光电跟踪系统的主要指标。本文以光电跟踪转台系统为研究对象,着重对伺服系统的控制结构、信号的滤波方式及控制算法进行研究。本论文主要对以下几个方面进行了研究：首先,概述了光电跟踪系统的研究发展现状,并进一步探讨跟踪控制算法和滤波预测技术的发展概况,阐述了本文的研究意义。其次,根据光电跟踪系统的性能指标,对光电跟踪系统的总体方案进行分析,通过比较分析各种跟踪系统的结构,最终确定光电跟踪系统的机械结构,并据此设计伺服控制系统,确定伺服控制系统的控制策略和组成结构。然后,对跟踪控制系统建模,确定控制系统采用的电流环、速度环和位置环闭环结构,并逐环进行了设计与分析；采用DSP为核心元件设计控制器,并对整个控制系统的软件进行设计。最后,为了提高控制精度,消除时延和噪声对系统影响,研究几种滤波方法,通过仿真平台进行分析,预测滤波方法可以有效减小跟踪误差,通过仿真结果的分析比较,从而确定稳态Kalman预测滤波方法为最优方案。通过系统调试和试验证明满足指标要求。更多还原

【Abstract】 Dynamic target track is one of the cutting-edged tendency in the testing research field. Its main applications field include military, aerospace, transportation and other fields, especially in military field. Electro-optical tracking control system is one of the key technologies for tracking, reconnaissance, positioning, navigation and other applications. Tracking accuracy is the main indicator of the Electro-optical tracking system. In order to improve the tracking accuracy of electro-optical tracking turntable system, this paper mainly focuses on the control structure of servo system, signal filtering method and control algorithm. In this paper, the following issues are mainly studied.Firstly, the development status of researches on the electro-optical tracking system, especially on tracking control and filtering algorithms are introduced. The meaningful contributions of the research in this paper are described in detail.Secondly, based on the performance indicators of electro-optical tracking system, the overall structure of electro-optical tracking system is analyzed. After the comparisons of different tracking systems, the mechanical structure of the tracking system and servo control system are designed, mainly including the control strategy and system construction.Furthermore, the model of the tracking control system is built, using three control loops including current loop, velocity loop and position loop as the closed-loop control algorithm. Also, DSP is used as the kernel of the proposed controller, and the software implementation is programmed.Finally, several filtering algorithms are proposed, in order to improve the tracking accuracy and eliminate the disturbances of delays and noises. through the simulation analysis and comparisons, Kalman filtering method, as the optimal approach, could effectively reduce the tracking error. Then the required tracking performance of the proposed system could be fulfilled, proved the system commissioning and testing experiments.更多还原