动基座稳定伺服系统的控制研究

【作者】 辛淼；

【导师】 薄煜明；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 本论文源于浮空观测系统的运动目标跟踪子系统，该子系统用于动基座条件下对运动目标的稳定跟踪。动基座稳定伺服系统包括稳定和跟踪两个控制部分，往往需要多套伺服系统配合控制才可满足要求，本论文只使用两套伺服系统就实现了动基座条件下对方位向、高低向两自由度的稳定控制。本文首先介绍了动基座稳定伺服系统的设计思想和控制原理，提出用跟踪线稳定的方法消除基座运动带来的扰动，实现了动基座问题向静基座问题的转化，然后基于图像处理方法将目标信息转换为跟踪误差，实现对运动目标的稳定跟踪；由于系统属于非线性、时变系统，本文选择参数自整定模糊PID的控制方法，结合两者优点设计参数自整定模糊PID控制器，并利用MATLAB／SIMULINK工具箱进行控制器的仿真；在对稳定伺服系统的调试中，假定目标的运动模型，对阶跃、斜坡、正弦信号输入取得了很好的控制效果。最后在仿真的基础上，借助图像处理技术，实现对运动目标的稳定跟踪，并给出了实验结果。更多还原

【Abstract】 This thesis is derived from the moving target tracking sub-system, which is a part ofthe system with floating-observation-platform. The sub-system is designed to trackmoving target steadily in the condition of moving base.The steady servo system with moving base ineludes tWO parts. One is stabilization,the other is tracking. The system usury can make it with several servo Systems workingtogether. The article carries out the control of azimuth and height steadily just with twopiece of servo system.The article first introduce the design thinking and control theory of steady servosystem with moving base, pointing out the method which can convert the problem frommoving base to smile base with the tracking-line. Based on the image processing, thetarget information could be converted to tracking error, which carry out the steadytracking. Because of the non-linear and time-changing system, the article choose theillegible PID control method of self-controlling parameter to design the PID controller,and use the toolbox of MATLAB/SIMULINK to simulate experiment. In the debuggingof steady servo system, it can obtain perfect result with suppositional moving modelwhen the input is step, slope or sine wave.At last, on the basis of simulation, the experiment carried out the steady tracking ofmoving target with the image processing.更多还原