Control method for photoelectric tracking and stabilization platform of moving carrier

A stable platform and photoelectric tracking technology, applied in the field of photoelectric tracking, can solve problems such as unfavorable engineering implementation, insufficient real-time performance, complex algorithms, etc., and achieve the effects of easy engineering application, low performance requirements, and simple technology

Inactive Publication Date: 2012-08-01
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

These methods can improve the performance of the system in some aspects, but they are not conducive to engineering implementation due to the complexity of the algorithm, large amount of calculation, or insufficient real-time performance.

Method used

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  • Control method for photoelectric tracking and stabilization platform of moving carrier
  • Control method for photoelectric tracking and stabilization platform of moving carrier
  • Control method for photoelectric tracking and stabilization platform of moving carrier

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Embodiment Construction

[0026] The embodiments of the present invention are described below in conjunction with the accompanying drawings, but the following embodiments are only limited to explain the present invention.

[0027] Below as figure 1 A photoelectric tracking one-dimensional stable platform as shown is taken as an example for illustration. Concrete implementation steps of the present invention are as follows:

[0028] Step (1) The servo system is composed of two single-axis turntables. The disturbance table is located below to provide the disturbance angular velocity, and the one-dimensional stable platform is located above. The gyroscope is installed on the stable platform; the disturbance table and the one-dimensional The stabilization platforms are directly driven by their respective torque motors. The servo system described in this embodiment adopts DMM16T acquisition board+PC104 / SPD2C embedded system, the sampling frequency is 1000Hz, and CS-ARS-12 rate gyroscope is adopted.

[00...

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Abstract

The invention provides a control method for a photoelectric tracking and stabilization platform of a moving carrier. An integral stabilization mode is adopted, and the method comprises the following steps of: designing a high-bandwidth current loop; establishing a mathematical object model, testing the frequency characteristics of an object by using a dynamic signal analyzer, and performing fitting to obtain an object transmission function Gm(s); designing an internal model controller Gimc(s) according to the established object model by adopting a two-step method, and regulating a parameter epsilon of the internal model controller Gimc(s) to obtain the high robustness of a system; and adding a parallel control loop on the basis of internal model control to realize two-port internal model control, and improving the low-frequency gain of the system to improve the accuracy of the system by designing a second control port. An additional sensor is not required, and equivalent complex control is realized by improving a control algorithm. The method is simple in control structure, engineering implementation is facilitated, and the stabilization accuracy of the photoelectric tracking and stabilization platform is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of photoelectric tracking, and in particular relates to a control method for a moving carrier photoelectric tracking and stabilization platform, which is used to increase the gain of the low-frequency band of the system to improve the stability accuracy of the system. Background technique [0002] For the ATP system on the moving carrier, the movement and vibration of the carrier and the interference of the external environment on the carrier can be coupled to the tracking platform through bearing friction, causing the shaking of the tracking line of sight (LOS), causing image blur and affecting the extraction of target misses. Therefore, it is necessary to establish a stable subsystem to isolate the visual axis of the tracking sensor from the movement and vibration of the base, so that the load of the stable subsystem can be stabilized in a fixed inertial space direction. The difficulty of the control of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G01C21/18
Inventor 夏运霞包启亮于伟李志俊
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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