实时变焦跟踪控制系统的研究

Real time changing focus tracking control system

为拓展光电捕获跟踪瞄准(ATP)系统的跟踪范围和应用范围,运用光学原理和智能控制理论,对实时变焦跟踪控制系统进行研究和设计。它根据跟踪目标的远近、大小和形状等因素实时改变跟踪电视镜头的焦距,从而改变跟踪视场,捕获各种复杂目标。并运用专家控制理论设计鲁棒PID控制器,使控制器能容忍系统参数变化。仿真和实验结果表明,跟踪系统不仅能灵活快速地捕获跟踪各种复杂的目标,且动态性能和稳态性能均达到系统的要求,成功完成实时连续变焦与控制功能。

In order to improve the tracking area and application field of the Acquisition Tracking Pointing （ATP） system, A real time changing focus tracking control system is developed based on the principle of optics and modern control theory. It can change focus of tracking TV according to tracking object size,distance and shape, so it changes the tracking inspect field to capture any complicated objects. With expert control theory, a robust PID controller is designed to tolerate parameters changing of the system. Simulation and experiment results indicate that tracking system not only can capture some complicated object fast, but also can meet the needed performance of dynamic and steady-state of the system. It completes the function of real time changing focus continuously and control successfully.