Visual tracking-based error observation feedforward control method

Abstract

The present invention discloses a visual tracking-based error observation feedforward control method. Into order to solve the problem of insufficient error suppression bandwidth of current fast steering mirror feedforward, the invention provides a method for increasing the error suppression bandwidth of a system so that the system can be adaptive to the tracking of highly-maneuvering targets. According to the core idea of the invention, the acquisition path of an estimated position and a feedforward node are changed; visual error provided by a CCD and the direct output of a position controller are fused, so that an observation position can be obtained; the position quantity is made to pass through a feedforward controller; the position amount can be directly fed forward into a driving output quantity; and therefore, tracking error can be further suppressed. Since external input data come from a CCD sensor, the method of the present invention is not affected by the delay and noises of other external sensors; the method adopts the visual error as input; and therefore, the method is not only effective for target tracking, but also effective for the disturbance suppression of a CCD-based fast steering mirror, and the use range of the method is wide.

Description

technical field

[0001] The invention belongs to the field of photoelectric system tracking control, and in particular relates to an error observation feedforward control method based on visual tracking, which is used to improve the error suppression bandwidth of the tracking and aiming system, so that the system can adapt to higher maneuvering targets. Background technique

[0002] The photoelectric tracking control system mainly tracks the target according to the image vision, uses the CCD to obtain the visual axis pointing error of the target in the current attitude, and then performs closed-loop tracking to complete the pointing follow. The fast mirror is the main component of the high-precision tracking subsystem in the system. Its control loop is used to achieve high-precision locking of the target, and its tracking accuracy determines the final overall performance of the system. The traditional fast mirror control mainly uses the eddy current position sensor and the vi...

Examples

Embodiment Construction

[0024] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] as attached figure 1 Shown is a control block diagram of an error-observation feedforward control method based on visual tracking, which includes a closed-loop object after a high-bandwidth eddy current inner loop, a CCD position outer loop, and an error-observation feedforward path. The core idea of ​​this method is to use the visual axis error provided by the CCD and the output of the position loop controller to achieve a high-gain equivalent position controller, and optimize the original position controller to achieve the target position. Observe and estimate feedforward control to reduce its CCD tracking error. The specific implementation steps of adopting described device to realize feed-forward control method are as follows:

[0026] Step (1): Install an eddy current position sensor and a CCD sensor in the fast mi...

technical field

[0001] The invention belongs to the field of photoelectric system tracking control, and in particular relates to an error observation feedforward control method based on visual tracking, which is used to improve the error suppression bandwidth of the tracking and aiming system, so that the system can adapt to higher maneuvering targets. Background technique

[0002] The photoelectric tracking control system mainly tracks the target according to the image vision, uses the CCD to obtain the visual axis pointing error of the target in the current attitude, and then performs closed-loop tracking to complete the pointing follow. The fast mirror is the main component of the high-precision tracking subsystem in the system. Its control loop is used to achieve high-precision locking of the target, and its tracking accuracy determines the final overall performance of the system. The traditional fast mirror control mainly uses the eddy current position sensor and the vi...

Examples

Embodiment Construction

[0024] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] as attached figure 1 Shown is a control block diagram of an error-observation feedforward control method based on visual tracking, which includes a closed-loop object after a high-bandwidth eddy current inner loop, a CCD position outer loop, and an error-observation feedforward path. The core idea of ​​this method is to use the visual axis error provided by the CCD and the output of the position loop controller to achieve a high-gain equivalent position controller, and optimize the original position controller to achieve the target position. Observe and estimate feedforward control to reduce its CCD tracking error. The specific implementation steps of adopting described device to realize feed-forward control method are as follows:

[0026] Step (1): Install an eddy current position sensor and a CCD sensor in the fast mi...

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