Kalman滤波和PI控制融合的光电转台控制方法研究

A Method of Controlling an Optical-electronic Turret by Fusion of PI Controller and Kalman Filter

针对船载光电转台需要高性能位置控制以满足光电系统稳定地成像和精确地跟踪,提出了一种PI控制和Kalman滤波融合的光电转台控制方法,其中包括直流电机的位置精确控制方法和相应的PI参数预测自适应整定方法。该算法利用Kalman预测来取代普通PID控制中微分部分的作用,在不改变控制性能前提下简化参数整定,并通过电机逆模型与Kalman预测实现PI控制器的参数预测自适应整定。仿真与实验结果表明:与普通PID控制相比,所提出的控制方法具有良好的动态性能,能显著提高船载光电转台的控制品质。

Since the image stabilization and target tracking of a optical-electronic turret require precise and effective position control, a control method of optical-electronic turret, including the precise position control of DC motor using the fusion of PI controller and Kalman filter and the predicted parameter self-a- daption for PI control, is proposed. This method replaces a differentiation element which is in the PID controller with Kalman filter in order to simplify the parameters tuning of the PID controller, while the contorl performance is unchanged. And the predicted self-adaption for PI controller is achieved using the inverse model of DC motor and Kalman prediction. The experimental result shows that, compared with the common PID controller, the proposed method has better dynamic property, and can improve the con- trol performance of shipborne optical-electronic turret.