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Finite time control method for vehicle-mounted photoelectric tracking platform based on disturbance observer

A disturbance observer and photoelectric tracking technology, which is applied in the field of precision servo control systems, can solve the problem that the convergence error area of ​​the photoelectric tracking platform cannot be guaranteed, and achieves the effect of meeting real-time requirements, simple structure and good convergence.

Active Publication Date: 2019-12-13
IANGSU COLLEGE OF ENG & TECH
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Problems solved by technology

However, this control method cannot guarantee that the photoelectric tracking platform will converge to the specified error area within a limited time.

Method used

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  • Finite time control method for vehicle-mounted photoelectric tracking platform based on disturbance observer
  • Finite time control method for vehicle-mounted photoelectric tracking platform based on disturbance observer
  • Finite time control method for vehicle-mounted photoelectric tracking platform based on disturbance observer

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Embodiment Construction

[0037] The accompanying drawing discloses a non-restrictive structural schematic diagram of a preferred embodiment involved in the present invention, and the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0038] like figure 1 As shown, the vehicle-mounted photoelectric tracking platform of the present invention includes a locomotive 1 and a photoelectric tracking platform 2, and the photoelectric tracking platform 2 includes a base 21 arranged on the locomotive 1, and a motor 22 is installed on the base 21. The rotating shaft of motor 22 connects photodetector 23, and described photodetector 23 is also provided with a gyroscope 24, and described motor 22 adopts the mode of DC torque motor direct drive, and the rotating shaft of motor 22 links to each other directly with photodetector 23, The housing of the motor 22 is connected to the base 21 , and the base 21 is installed on the locomotive 1 .

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Abstract

The invention discloses a finite time control method for a vehicle-mounted photoelectric tracking platform based on a disturbance observer. According to the method, a disturbance observer and a finitetime controller are organically combined, complement each other and are used for controlling a photoelectric tracking platform. On the basis of a mathematical model of the photoelectric tracking platform, the disturbance observer is designed to observe disturbance borne by the photoelectric tracking platform, and the disturbance is used as a feed-forward quantity for compensation. Then, a given signal is compared with an actual signal to obtain a first-order error model containing an equivalent disturbance term, and a feedback control rate is designed by using a finite time control method onthe basis of the first-order error model. Through mathematical analysis, the relationship between the boundary of the steady-state error of a closed-loop system and the parameters of the controller under the condition of equivalent interference is given. The composite control method enables the photoelectric tracking platform to have better anti-disturbance performance and more excellent convergence performance.

Description

technical field [0001] The invention relates to a limited-time control method of a vehicle-mounted photoelectric tracking platform based on a disturbance observer, belonging to the field of precision servo control systems. Background technique [0002] The photoelectric tracking platform installed on the locomotive will be affected by various disturbances: when the locomotive and the target position move relatively, it is necessary to overcome the influence of nonlinear friction torque, mass unbalanced moment, and cable constraints to make the tracking platform The visual axis keeps accurate tracking of the target; when the attitude changes caused by the locomotive driving on the uneven road, the photoelectric tracking platform also needs to overcome the coupling effect caused by the locomotive movement. The gyroscope is used as a sensitive element to provide a space inertial coordinate system for the photoelectric tracking platform on the locomotive. When it is detected th...

Claims

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 朱海荣吴瑜张先进李俊红茅靖峰陈益飞张英聪马文静张慧张怀才
Owner IANGSU COLLEGE OF ENG & TECH
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