光电跟踪系统传感器延迟及控制算法研究

Research of delay of sensor and control algorithms in opto-electronic tracking system

为克服使用光电传感器成像时必须容忍的积累光子时间,以及图像信号处理算法较大的计算量带来的传感器纯延迟对目标跟踪随动系统造成的带宽限制,研究了Matlab/Simulink环境下纯延迟系统的仿真问题,根据开环剪切频率与延迟时间的关系设计了PI控制器,并提出了新型Kalman滤波控制器。通过Bode图比较和仿真实例比较可知:新型Kalman滤波控制器采用Kalman一步递推和多步预测以及由目标位置预测信号得到速度预测信号的方法是可行的。

To avoid the servo system＇s bandwidth limition for sensor＇s pure delay which comes from unavoidable photon accumu- lation time of opto-electronic sensor and high computing expenditure of image processing algorithms, a control system simulation with pure delay is studied under Matlab/Simulink. Design of a kind of PI controller and a new Kalman filter controller are pro- posed. By comparations of Bode plots and results of a simulation example, the algorithm of using one step estimation combined with multi-step foreast and achieving speed signal from site signal in the new Kalman filter controller design is demonstrated to be feasible.