动基座光电跟踪装置的满意PID解耦控制

Satisfactory PID Decoupling Control for Electro-optical Tracking Devices on Moving Base

为了减小基座扰动和转台框架间的非线性耦合因素对动基座光电跟踪装置稳定跟踪性能的影响,设计了一种多指标约束下的满意PID解耦控制器。首先,通过分析框架间的运动学以及动力学关系,建立了转台系统的数学模型;其次,采用具有前馈项的控制输入变换实现系统模型的扰动解耦,并利用极点区域与输出方差上界指标约束下的H∞优化理论及线性矩阵不等式方法对PID跟踪控制器参数进行整定。最后对所提控制方法进行仿真验证,结果表明了其有效性和实用性。

To reduce the possible influence on tracking performance caused by carrier turbulence and nonlinear coupling factors of the electro-optical tracking devices on the moving base,a satisfactory PID decoupling controller with multiple indices constraints was proposed.Based on the analysis on kinetic characteristics among frames,the state equation of rotating platform system was founded.And then,the system model was decoupled by applying the input transformation with feed forward.On this basis,the H-infinite optimization theory under the constraints of regional pole index and output variance upper-bound index was utilized to design the PID tracking controller via linear matrix inequality（LMI） method.The simulations were tested and the result shows the effectiveness and practicality of the proposed control method.