Photoelectric tracking system switching control method based on composite nonlinear feedback

Abstract

The invention provides a composite nonlinear feedback mode switching controller which is applied to a photoelectric tracking system and solves the problems of overshoot, oscillation, long adjustment time and the like in a multi-mode switching process. According to the controller, smooth switching is achieved through a nonlinear feedback mechanism, it is ensured that an input signal is rapidly and stably adjusted to a target position when suddenly changing, the overshoot is smaller than 1%, and the adjusting time is smaller than 0.1 second in the embodiment. The design of the controller does not depend on an accurate mathematical model, parameters have definite physical significance, the debugging process is simplified, and the robustness and adaptability of the system are improved. Example experiments prove that instability in mode switching can be effectively suppressed, quick response and stability of the photoelectric tracking system among different working modes are ensured, and target loss or system failure is avoided. According to the invention, powerful support is provided for efficient operation of the photoelectric tracking system in a complex environment.

Description

Technical Field

[0001] The present invention relates to the field of optoelectronic tracking, and more specifically to a switching control method for an optoelectronic tracking system based on composite non-linear feedback. Background Art

[0002] Optoelectronic tracking systems are mainly used for functions such as target detection, guidance, tracking, and precision aiming. Due to the uncertain motion of the target, the input signal of the system is also highly uncertain. In the initial stage, the system needs to quickly adjust the pointing to guide the target into the field of view; when the target enters the field of view, the system switches to the optical tracking mode to accurately capture the target and prevent the target from exceeding the field of view or causing the optical system to fail. The working modes of optoelectronic tracking systems usually include a guidance mode, a capture mode, and a tracking mode, and there are differences in input signals, functions, and performance requirements for each mode.

[0003] In the guidance mode, the system obtains the relative position of the target through an external guidance signal (such as radar data) and quickly adjusts the turntable to point at the target. The capture mode involves the transition from guidance to tracking, and requires the system to quickly and stably capture the target in the face of discontinuous input signals. The tracking mode requires the system to accurately track the target, ensuring that the optical axis always points at the target and preventing the loss of the target or system failure. In the actual working process of applications, the working mode of the servo system is relatively complex. To achieve fast and stable tracking of the target, the cooperation of multiple working modes is required. Generally, it can be divided into a guidance mode, a capture mode, a tracking mode, etc. according to the working process of the system. The input data types of each mode are different, and the mode functions and performance requirements are also different. The schematic diagram of the system working mode is as Figure 2 shown.

[0004] The application problems targeted by the present invention mainly include the following aspects: In the process of multi-mode switching of the ATP system, firstly, traditional mode switching control strategies often exhibit impacts, oscillations, and overshoots during the switching process, resulting in poor system stability and insufficient tracking accuracy, affecting the capture and tracking of the target. Secondly, existing control methods often rely on accurate mathematical models, making the controller design and parameter debugging processes complex, time-consuming, and difficult to handle uncertainties in practical applications. Finally, the lack of physical interpretability of the parameters in the control strategy makes the debugging and optimization processes more difficult, increasing the difficulty of engineering applications. Therefore, how to smoothly switch between different modes and ensure the fast response and high precision of the system has become a key issue in the design of optoelectronic tracking systems.

[0005] The prior art (Cheng G, Hu J G. An observer-based mode switching control scheme for improved position regulation in servomotors[J]. IEEE Transactions on Control Systems Technology, 2013, 22(5): 1883-1891.) proposed an observer-based mode switching control scheme. However, its complex parameter tuning process and the problems of being sensitive to disturbances and relatively poor stability increase the difficulty of its application in practical systems.

[0006] The prior art (Li S, Xu Y, Zhang W, et al. A novel two-phase mode switching control strategy for PMSM position servo systems with fast-response and high-precision[J]. IEEE Transactions on Power Electronics, 2022, 38(1): 803-815.) proposed a robust nonlinear feedback control method RCNF based on an extended state observer to solve the problems of relatively poor stability and robustness of the CNF control law. However, there is still a complex situation in parameter tuning.

[0007] We hope to propose a new switching control method to smoothly switch between different modes and ensure the fast response and high precision of the optoelectronic tracking system. Summary of the Invention

[0008] The object of the present invention is to provide a switching control method for an optoelectronic tracking system based on composite nonlinear feedback, which can ensure the smooth switching of the optoelectronic tracking system between the external information guidance mode and the target tracking mode and ensure the fast response and high precision of the optoelectronic tracking system.

[0009] The object of the present invention is achieved by the following technical solutions:

[0010] A switching control method for an optoelectronic tracking system based on composite nonlinear feedback, which designs a model-free composite nonlinear feedback switching controller, and the switching control strategy in the controller can ensure that there is no overshoot and no oscillation when the optoelectronic tracking system switches between different control modes.

[0011] The optoelectronic tracking system includes an azimuth frame and an azimuth motor for driving the azimuth frame to rotate, a pitch frame and a pitch motor for driving the pitch frame to rotate. The pitch frame is connected to the azimuth frame through the pitch motor, and a CCD camera is installed in the pitch frame. An azimuth encoder is connected to the azimuth motor, and a pitch encoder is connected to the pitch motor. The pitch encoder and the azimuth encoder are used to return the angles of the pitch frame and the azimuth frame after rotating around the axis to the controller respectively. The image sensor is used to return the position of the target imaging point to the controller. The controller drives the azimuth motor and the pitch motor to rotate corresponding angles based on the feedback target detection data and the mode switching signal.

[0012] The switching control strategy includes the following steps:

[0013] Step S1: The optoelectronic tracking system starts to be guided by an external sensor at t = 0, and the system is quickly turned to the target at a refresh rate of 1 Hz.

[0014] When the external data of the external sensor guides the optoelectronic tracking system to continuously track until a certain moment, the target enters the optical detection field of view, and the mode of the optoelectronic tracking system switches from the external data guidance mode to the target tracking mode. The feedback data refresh frequency of the optoelectronic tracking system is 100 Hz. The external sensor can be a radar or the like.

[0015] Step S2: Design the linear control rate part in the composite nonlinear feedback control rate.

[0016] In the said step S2:

[0017] U L = Fx + Gr

[0018] Where r is the system step input, F satisfies that A + BF is an asymptotically stable matrix (where A, B, C2 are constant matrices), and G is a scalar, expressed as:

[0019] G = -[C2(sI - A - BF) -1 B] -1

[0020] According to the characteristics of the CNF control rate, when the deviation between the input and the output is large, the linear control part plays a major role, which can correspond to the external data guidance mode of the optoelectronic tracking system. It is required that the optoelectronic tracking system can quickly approach the command, and the accuracy requirement is relatively low. The nonlinear control part plays a leading role when the deviation is small, corresponding to the switching transition process of the optoelectronic tracking system. The external data guidance mode of the optoelectronic tracking system is realized through proportional correction. Therefore: F = [-v0, 0]; G = v0;

[0021] Step S3: Design the nonlinear control rate part in the composite nonlinear feedback control rate.

[0022] Given a positive definite matrix \(W = I_2\), solving the Lyapunov equation \((A + BF)'P+P(A + BF)=-W\) gives:

[0023]

[0024] where \(k\) is the position loop gain, \(v_0\) is the preset switching speed threshold, and \(\tau\) is the speed loop bandwidth, all being positive real numbers. Thus, \(P\) is a positive definite matrix, \(P>0\), and \(X\) can be obtained. e \(= r\); obtaining the nonlinear control law:

[0025]

[0026] Select the nonlinear function where \(\Delta\theta=r - h\), \(\lambda\) T is the initial deviation value;

[0027] where \(\rho(r,h)\) is a complex function, and \(y\) satisfies the Lipschitz judgment condition; select an appropriate adjustment function \(\rho(r,h)\) to improve the closed-loop system control performance of the output \(h\) when approaching the input command; according to the actual situation of the optoelectronic tracking system, select \(\rho\) as a function of the tracking error \(r - h\). In the actual optoelectronic tracking system, this state can be directly obtained, which is more conducive to the design of the switching control strategy;

[0028] Step S4: Obtain the composite nonlinear feedback control law through comprehensive design, superimpose the linear feedback control law and the nonlinear feedback control law to obtain the composite nonlinear feedback control law of the optoelectronic tracking system;

[0029] \(u = u\) L \(+ u\) N \(= Fx+Gr+\rho(\tau,y)B'P(x - x\) e );The nonlinear control law mainly takes effect when the error is close to 0, and the linear control law mainly takes effect when the error is large; combined with the actual working process of the optoelectronic tracking system, establish a switching control strategy to arrange the switching control process;

[0030] Step S5: Design the speed control process guided by the initial external information;

[0031]

[0032] In the expression of the switching process of the switching control strategy, \(\Delta\theta\) is the angular deviation between the desired and the current positions, \(\lambda\) Ti is the judgment condition threshold and is the speed command of the optoelectronic tracking system; this corresponds to the starting stage of the operation of the optoelectronic tracking system. The optoelectronic tracking system needs to quickly point to the area near the target according to the external guiding information; set the switching control strategy of the optoelectronic tracking system to the maximum operating speed of the optoelectronic tracking system to quickly approach the desired position;

[0033] In the formula, v max is the maximum angular velocity that the optoelectronic tracking system can achieve or the maximum angular velocity that the designer expects the optoelectronic tracking system to operate at, which is set according to the actual capabilities of the optoelectronic tracking system. sign(Δθ) is the standard sign function, is the set deceleration range, which is approximately determined by ; a max is the maximum angular acceleration that the optoelectronic tracking system can reach;

[0034] Step S6: Design the speed control process in the first transition stage;

[0035]

[0036] Corresponding to the first transition process of the optoelectronic tracking system working, it is used to judge when to switch the sensor input. λ T2 is set according to the effective detection field of view of the image sensor of the optoelectronic tracking system; ensure that λ T1 > λ T2 so that the optoelectronic tracking system will not switch frequently and cause unnecessary interference; vi is an adjustable parameter that affects the rapidity of the convergence of the transition process of the optoelectronic tracking system;

[0037] Step S7: Design the speed control process in the second transition stage;

[0038]

[0039] Step S8: Design the speed control process in the switching control strategy switching stage;

[0040] λ T5 > Δθ, v0 > Δv

[0041] At this time, it corresponds to the mode switching process of the optoelectronic tracking system, and judges when to switch the optoelectronic tracking system to the target tracking mode; λ T5 can be set according to the maximum non-saturated input that the actual optoelectronic tracking system can accept; in order to improve the stability of the switching, the deviation Δv between the current speed and the target speed of the optoelectronic tracking system is also used as a judgment basis to ensure the continuity of the system command. Only when λ T5 > Δθ and v0 > Δv are satisfied will the switching be carried out; v0 is a variable parameter representing the preset speed deviation value; at the same time, it is necessary to satisfy λ T4 > λ T5 to prevent the switching point from switching frequently and causing system instability;

[0042] The beneficial effects of the present invention are:

[0043] The switching strategy proposed by the present invention can perform mode switching quickly. The switching process can quickly converge to the tracking stage. The switching time can reach as low as 50 ms according to different initial values. However, the error always decreases during the switching process. Therefore, the target will not be lost during the switching process, resulting in system failure. When the switching is completed and the tracking mode is entered, there is no overshoot and no oscillation, and no additional disturbance will be introduced to the image tracker to cause the loss of the target.

[0044] The designed switching control strategy has physical interpretability and can quickly adjust the strategy-related parameters for different optoelectronic tracking systems. The designed switching control strategy is respectively simulated and experimentally verified. The results show that the designed control strategy has no overshoot and no oscillation at the moment and during the switching process of the optoelectronic tracking system, and the switching is stable without impact. Brief Description of the Drawings

[0045] The present invention will be further described in detail below in conjunction with the drawings and specific implementation methods.

[0046] Figure 1 It is a schematic diagram of the switching task execution of the optoelectronic tracking system of the present invention;

[0047] Figure 2 It is the switching control flow of the optoelectronic tracking system of the present invention;

[0048] Figure 3 It is the test result of the switching process of the first optoelectronic tracking system of the present invention;

[0049] Figure 4 It is the test result of the switching process of the second optoelectronic tracking system of the present invention;

[0050] Figure 5 It is the test result of the switching process of the third optoelectronic tracking system of the present invention;

[0051] Figure 6 It is the schematic diagram of the optoelectronic tracking system of the present invention. Detailed Implementation Modes

[0052] The present invention will be further described in detail below in conjunction with the drawings.

[0053] As Figures 1 to 6 shown, in order to achieve the beneficial effect of "ensuring smooth switching between the external information guidance mode and the target tracking mode of the optoelectronic tracking system and ensuring the fast response and high precision of the optoelectronic tracking system", the steps and functions of the switching control method of the optoelectronic tracking system based on compound nonlinear feedback will be described in detail below;

[0054] A switching control method for an optoelectronic tracking system based on composite nonlinear feedback, which is applicable to the optoelectronic tracking system. This method designs a model-free composite nonlinear feedback switching controller, and the switching control strategy in the controller can ensure that there is no overshoot and no oscillation when the optoelectronic tracking system switches between different control modes; the switching control strategy performs switching on the premise of ensuring rapidity, and there is no overshoot during the switching process, effectively preventing the system tracking failure during switching and solving the impact and oscillation problems during the multi-mode switching of the optoelectronic tracking system;

[0055] The optoelectronic tracking system includes an azimuth frame and an azimuth motor for driving the azimuth frame to rotate, a pitch frame and a pitch motor for driving the pitch frame to rotate. The pitch frame is connected to the azimuth frame through the pitch motor. A CCD camera is installed in the pitch frame. An azimuth encoder is connected to the azimuth motor, and a pitch encoder is connected to the pitch motor. The pitch encoder and the azimuth encoder are used to return the angles of the pitch frame and the azimuth frame after rotating around the axis to the controller respectively. The image sensor is used to return the position of the target imaging point to the controller; the controller drives the azimuth motor and the pitch motor to rotate corresponding angles based on the feedback target detection data and the mode switching signal;

[0056] The switching control strategy includes the following steps:

[0057] The switching control strategy includes the following steps:

[0058] Step S1: The optoelectronic tracking system starts to be guided by an external sensor at t = 0, and the system is quickly turned to the target at a refresh rate of 1 Hz;

[0059] When the external data of the external sensor guides the optoelectronic tracking system to continuously track until a certain moment, the target enters the optical detection field of view, and the mode of the optoelectronic tracking system switches from the external data guidance mode to the target tracking mode. The feedback data refresh frequency of the optoelectronic tracking system is 100 Hz; the external sensor can be a radar, etc.;

[0060] Step S2: Design the linear control rate part in the composite nonlinear feedback control rate;

[0061] In the said step S2:

[0062] U L = Fx + Gr

[0063] where r is the system step input, F satisfies that A + BF is an asymptotically stable matrix (where A, B, C2 are constant matrices), G is a scalar, and is expressed as:

[0064] G = -[C2(sI - A - BF) -1 B] -1

[0065] According to the characteristics of the CNF control rate, when there is a large deviation between the input and the output, the linear control part plays a major role, which can correspond to the external data guidance mode of the optoelectronic tracking system. It is required that the optoelectronic tracking system can quickly approach the command, and the accuracy requirement is relatively low. The nonlinear control part plays a dominant role when the deviation is small, corresponding to the switching transition process of the optoelectronic tracking system. The external data guidance mode of the optoelectronic tracking system is realized through proportional correction. Therefore: F = [-v0, 0]; G = v0;

[0066] Step S3: Design the nonlinear control rate part in the composite nonlinear feedback control rate;

[0067] Given a positive definite matrix W = I2, solve the Lyapunov equation (A + BF)′P + P(A + BF) = -W to obtain:

[0068]

[0069] where k is the position loop gain, v0 is the preset switching speed threshold, and τ is the speed loop bandwidth, all of which are positive real numbers. Therefore, P is a positive definite matrix, P > 0, and X e = r; obtain the nonlinear control rate:

[0070]

[0071] Select the nonlinear function where Δθ = r - h, λ T is the initial deviation value;

[0072] where ρ(r, h) is a complex function, and y satisfies the Lipschitz determination condition; select an appropriate adjustment function ρ(r, h) to improve the closed-loop system control performance of the output h when approaching the input command; according to the actual situation of the optoelectronic tracking system, select ρ as a function of the tracking error r - h. In the actual optoelectronic tracking system, this state can be directly obtained, which is more conducive to the design of the switching control strategy;

[0073] Step S4: Synthesize the design to obtain the composite nonlinear feedback control rate, superimpose the linear feedback control rate and the nonlinear feedback control rate, and obtain the composite nonlinear feedback control rate of the optoelectronic tracking system;

[0074] u = u L + u N = Fx + Gr + ρ(τ, y)B′P(x - x e ); when the error is close to 0, the nonlinear control rate mainly plays a role, and when the error is large, the linear control rate mainly plays a role; combined with the actual working process of the optoelectronic tracking system, establish a switching control strategy to arrange the switching control process;

[0075] Step S5: Design the speed control process guided by initial external information;

[0076]

[0077] In the expression of the switching process of the switching control strategy, Δθ is the angular deviation between the desired and the current position, and λ Ti is the decision condition threshold, and is the speed command of the optoelectronic tracking system; at this time, it corresponds to the starting stage of the operation of the optoelectronic tracking system. The optoelectronic tracking system needs to quickly point to the area near the target according to the external guidance information; set the switching control strategy of the optoelectronic tracking system to the maximum operating speed of the optoelectronic tracking system to quickly approach the desired position;

[0078] In the formula, v max is the maximum angular velocity that the optoelectronic tracking system can achieve or the maximum angular velocity that the designer expects the optoelectronic tracking system to operate, which is set according to the actual ability of the optoelectronic tracking system. sign(Δθ) is the standard sign function, is the set deceleration range, which is approximately determined by ; a max is the maximum angular acceleration that the optoelectronic tracking system can reach;

[0079] Step S6: Design the speed control process in transition stage 1;

[0080]

[0081] Corresponds to the first transition process of the operation of the optoelectronic tracking system, used to judge when to switch the sensor input, and λ T2 is set according to the effective detection field of view of the image sensor of the optoelectronic tracking system; ensure that λ T1 > λ T2 so that the optoelectronic tracking system will not switch frequently and cause unnecessary interference; vi is an adjustable parameter, which affects the rapidity of the convergence of the transition process of the optoelectronic tracking system;

[0082] Step S7: Design the speed control process in transition stage 2;

[0083]

[0084] Step S8: Design the speed control process in the switching stage of the switching control strategy;

[0085] λ T5 > Δθ, v0 > Δv

[0086] At this time, it corresponds to the mode switching process of the optoelectronic tracking system, judging when to switch the optoelectronic tracking system to the target tracking mode; λ T5It can be set according to the maximum non-saturated input that the actual optoelectronic tracking system can accept; in order to improve the stability of switching, the deviation Δv between the current speed and the target speed of the optoelectronic tracking system is also used as the judgment basis to ensure the continuity of the system command. Only when λ T5 >Δθ and v0>Δv will the switching be carried out; v0 is a variable parameter representing the preset speed deviation value; at the same time, it is necessary to satisfy λ T4 >λ T5 to prevent the system from being unstable due to frequent switching of the switching point;

[0087] The tracking process is set as follows: Set the input curve of the period R(t)=200 + 100sin(0.02πt). During the execution of the instruction, it randomly switches between the external data guidance mode and the target tracking mode. The input frequency of the external data guidance mode is 1Hz, and the input frequency of the target tracking mode is 100Hz. The switching control strategy realizes the tracking switch according to the mode switching signal. According to the above steps and system parameters, the switching process is planned as shown in Table 1 and Table 2 below. Calculate the speed control instruction to drive the motor to drive the pitch and azimuth frames to rotate, so as to achieve a fast overshoot-free switch between the external data guidance mode and the target tracking mode;

[0088] Table 1 System parameters of the embodiment

[0089]

[0090] Table 2 Control parameter settings

[0091]

[0092] The switching strategy proposed by the present invention can quickly perform mode switching. The switching process can quickly converge to the tracking stage. The switching time can reach a minimum of 50ms according to different initial values. However, the error always decreases during the switching process. Therefore, the target will not be lost during the switching process, resulting in system failure; when the switching is completed and enters the tracking mode, there is no overshoot and no oscillation, and no additional disturbance will be introduced to the image tracker to cause the loss of the target. This advantage directly comes from the innovative design of the switching control preset process, which is specifically manifested as directly achieving this effect through the control action of the composite nonlinear feedback control rate on the speed.

Claims

1. A switching control method for an optoelectronic tracking system based on composite nonlinear feedback, which is applicable to an optoelectronic tracking system, characterized in that: This method designs a model - free composite non - linear feedback switching controller. The switching control strategy in the controller can ensure that the optoelectronic tracking system has no overshoot and no oscillation when switching between different control modes.

2. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 1, characterized in that: The optoelectronic tracking system includes an azimuth frame and an azimuth motor for driving the azimuth frame to rotate, a pitch frame and a pitch motor for driving the pitch frame to rotate. The pitch frame is connected to the azimuth frame through the pitch motor. A CCD camera is installed in the pitch frame. An azimuth encoder is connected to the azimuth motor, and a pitch encoder is connected to the pitch motor. The pitch encoder and the azimuth encoder are used to return the angles after the pitch frame and the azimuth frame rotate around the axis to the controller respectively. The image sensor is used to return the position of the target imaging point to the controller. The controller drives the azimuth motor and the pitch motor to rotate corresponding angles based on the feedback target detection data and the mode switching signal.

3. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 2, characterized in that: The switching control strategy includes the following steps: Step S1: At t = 0, the optoelectronic tracking system starts to be guided by an external sensor, and the system is quickly turned to the target at a refresh rate of 1 Hz. Step S2: Design the linear control rate part in the composite non - linear feedback control rate. Step S3: Design the non - linear control rate part in the composite non - linear feedback control rate. Step S4: Synthesize and design to obtain the composite non - linear feedback control rate, superimpose the linear feedback control rate and the non - linear feedback control rate to obtain the composite non - linear feedback control rate of the optoelectronic tracking system. Step S5: Design the speed control process guided by the initial external information. Step S6: Design the speed control process in the first transition stage. Step S7: Design the speed control process in the second transition stage. Step S8: Design the speed control process in the switching stage of the switching control strategy.

4. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 3, characterized in that: In step S1, when the external data of the external sensor guides the optoelectronic tracking system to continuously track until a certain moment, the target enters the optical detection field of view, and the mode of the optoelectronic tracking system switches from the external data guidance mode to the target tracking mode. The feedback data refresh frequency of the optoelectronic tracking system is 100 Hz.

5. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 4, characterized in that: In step S2: U L = Fx + Gr Where r is the system step input, F satisfies that A + BF is an asymptotically stable matrix (where A, B, C2 are constant matrices), and G is a scalar, expressed as: G = -[C2(sI - A - BF) -1 B] -1 According to the characteristics of the CNF control rate, when the deviation between the input and the output is large, the linear control part plays a major role, which can correspond to the external data guidance mode of the optoelectronic tracking system. It is required that the optoelectronic tracking system can quickly approach the command with relatively low accuracy requirements. The non - linear control part plays a dominant role when the deviation is small, corresponding to the switching transition process of the optoelectronic tracking system. The external data guidance mode of the optoelectronic tracking system is realized through proportional correction. So: F = [-v0, 0]; G = v0.

6. The switching control method of an optoelectronic tracking system based on compound non-linear feedback according to claim 5, characterized in that: In step S3: Given a positive definite matrix W = I2, solve the Lyapunov equation (A + BF)′P+P(A + BF)= - W to get: where k is the position loop gain, v0 is the preset switching speed threshold, and τ is the speed loop bandwidth, all of which are positive real numbers. Therefore, P is a positive definite matrix, P > 0, and X can be obtained e = r; The non-linear control law is obtained as follows: Select a non-linear function where Δθ = r - h, λ T is the initial deviation value; where ρ(r, h) is a complex function, and y satisfies the Lipschitz decision condition; select an appropriate β value to adjust the function ρ(r, h) to improve the closed-loop system control performance of the output h when approaching the input command.

7. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 6, characterized in that: In the step S4: u = u L + u N = Fx + Gr + ρ(τ, y)B′P(x - x e ); when the error is close to 0, the non-linear control rate mainly plays a role, and when the error is large, the linear control rate mainly plays a role.

8. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 7, characterized in that: In step S5: In the expression of the switching process of the switching control strategy, Δθ is the angular deviation between the desired and current positions, and λ Ti is the decision condition threshold and is the speed command of the optoelectronic tracking system; at this time, it corresponds to the starting stage of the operation of the optoelectronic tracking system, and the optoelectronic tracking system needs to quickly point to the area near the target according to the external guidance information; Set the switching control strategy of the optoelectronic tracking system to the maximum operating speed of the optoelectronic tracking system to quickly approach the desired position. In the formula, v max is the maximum angular velocity that the optoelectronic tracking system can achieve or the maximum angular velocity that the designer expects the optoelectronic tracking system to operate at, which is set according to the actual capabilities of the optoelectronic tracking system. sign(Δθ) is the standard sign function, is the set deceleration range, which is approximately determined by ; a max is the maximum angular acceleration that the optoelectronic tracking system can achieve.

9. A switching control method for an optoelectronic tracking system based on compound nonlinear feedback according to claim 8, characterized in that: In step S6: Corresponding to the first transient process of the optoelectronic tracking system, used to determine when to switch the sensor input, λ T2 is set according to the effective detection field of view of the image sensor of the optoelectronic tracking system; ensure that λ T1 > λ T2 so that the optoelectronic tracking system will not switch frequently, resulting in unnecessary interference; v i is an adjustable parameter that affects the rapidity of the convergence of the transient process of the optoelectronic tracking system; In step S7:

10. A switching control method for an optoelectronic tracking system based on compound non-linear feedback according to claim 9, characterized in that: In step S8: λ T5 > Δθ, v0 > Δv At this time, corresponding to the mode switching process of the optoelectronic tracking system, it is judged when to switch the optoelectronic tracking system to the target tracking mode; λ T5 It can be set according to the maximum non-saturated input that the actual optoelectronic tracking system can accept; in order to improve the stability of switching, the deviation Δv between the current speed of the optoelectronic tracking system and the target speed is also used as a judgment basis to ensure the continuity of the system command. Only when λ T5 > Δθ and v0 > Δv, the switching is carried out; v0 is a variable parameter representing the preset speed deviation value; at the same time, it is necessary to satisfy λ T4 > λ T5 To prevent the system from being unstable due to frequent switching of the switching point.

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