A Feedforward Control Method Based on Multi-stage Motion Information Estimation

Abstract

The invention relates to a feedforward control method based on multi-order motion information estimation. A CCD detector receives the angle information of a coder and the track information of a target, carries out the subtraction of the angle information of the coder and the track information of the target, and extracts a target miss distance. A position correction controller receives the target miss distance information collected by the CCD detector, and generates and outputs a tracking control signal of the target miss distance, wherein the tracking control signal is finally represented in the change of the pointing direction of a control object. The angle information of the coder and the track information of the target are added together, and the information reflecting the real movement track of the target is extracted and obtained. A multi-order target motion information estimator receives the extracted target track signal, and obtains the high-order signals of movement speed, acceleration and accelerated acceleration of the target through the signal. A feedforward controller receives the above high-order signals of the target, and generates and outputs a feedforward control signal. The feedforward control signal and a position correction control signal are added together, and a drive control signal is generated and outputted, and is used for driving the control object to move and achieving the closed-loop correction of the target miss distance.

Description

technical field [0001] The invention belongs to the field of photoelectric tracking control, in particular to a feedforward control method based on multi-stage target motion information estimation, which is mainly used to realize high-precision tracking of targets. Background technique [0002] In the target tracking process of the photoelectric control system, it is the focus of the work to realize the high-precision tracking of the target. The "fire pool" control system developed by Lincoln Laboratory in the United States uses angular position information and high-precision ranging information to achieve coaxial tracking, and has achieved good control effects. In the domestic tracking control system, the angular velocity and angular acceleration are mainly estimated by using the angular position information, and then the estimated quantity is used for feed-forward control to improve the tracking accuracy. [0003] Feedforward can effectively improve tracking accuracy beca...

AI Technical Summary

Problems solved by technology

The above method uses the Kalman filter based on Newton’s motion model to obtain the motion speed and acceleration information. This method can have a certain effect on the data noise of the sensor itself, but it cannot deal with problems caused by uncertain sampling time intervals. At the same time, the method is a linear filter, and there is a large model error in the prediction and estimation of the angle, which will be amplified when the high-order components of the state observer are expanded; and the Kalman filter itself has The amount of calculation is large, and it depends on the prior, and is sensitive to the initial parameters, etc.

Therefore, this method is still limited in improving the accuracy and real-time performance of the system feedforward control.

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