光电跟踪系统捕获跟踪切换的平滑调节方法

Smooth adaptation for transition of acquisition and tracking switching of electro-optical tracking system

光电跟踪系统中,通常需要应用多个控制器完成搜索、捕获和跟踪。在多控制器之间直接切换可能会产生大的瞬态误差,导致目标脱离视场。提出了基于单个实参数控制的系统频响特性对称调节方法,实现了捕获和跟踪控制的平滑转换;给出了对称调节器的标准形式,可通过频域上的转换得到实际的调节控制器。实验结果表明:采用单参数对称调节的捕获跟踪控制模式转换平滑、快速、瞬态响应快、超调量小。

In a typical electro-optical tracking system,mutiple controllers are used for seeking,acquisition and tracking.The direct switching of multi-modes resulted in large transient error and losing locking of target.After analysis of linear combination regulation and bilinear regulation,a symmetrical adaptation of system frequency response based on sigle-parameter control was presented.By varying only one real parameter,the system could transform from acquisition mode to tracking mode control smoothly,and the responses were stable.Normalized MTF of acquisition and tracking was designed for practical application.Different cut-off frequency was changed to the normalized controller according to the structure mode and system specification,then the acquisition and tracking controller was obtained.Experimental result shows that the transition between the modes is smooth and rapid,and the transient responses are fast without substantial overshoots.