双目标跟踪的三维信息非线性变结构控制

Variable structure control for three-dimensional information of double targets

采用传统的单Bang-Bang控制的光电设备进行精定位时,系统放大倍数为无穷大,所以系统不易稳定。本文分析了单Bang-Bang控制的不足,提出了一种变结构最优控制方法。该方法在粗跟踪时用Bang-Bang控制,在进入小偏差范围内切换为线性控制。在线性控制时,根据不同调节器的的不同特点,提出了红外一阶捕获,红外二阶跟踪的策略,并同时给出了Bang-Bang控制和线性控制的切换准则,红外一阶捕获和红外二阶跟踪的切换准则。实验显示,采用提出的方法光电设备的90°双目标定位能力在2.3s左右,比传统方法缩短了近1s,快速性大大提高。另外,利用激光测距机可以给出舷角相差90°的双目标三维信息数据率为0.45Hz,提高了双目标时系统的光电对抗能力。

When traditional Bang-Bang control in optoelectronic equipment is used in fine position of double-targets,the system is difficult to be stabilized because of its amplifying coefficient in infinity.This paper analyzes shortages of the Bang-Bang control,and proposes a kind of variable structure control,namely the coarse tracking algorithm based on the Bang-Bang control.It uses Bang-Bang control in the coarse tracking and switches it into linear control in a small deviation range.In the linear control,the strategies of infrared first-order capturing and infrared second-order tracking are proposed depending on characteristics of different regulators,and switching guidelines for the BangBang control and linear control,and the infrared first-order capturing and infrared second-order tracking are given.The experiments show the proposed method makes the photoelectric equipmentspend around 2.3sin 90°back and forth position,which is shorter nearly 1sthan that of traditional method.Meanwhile,the laser rangefinder gives the rate of three-dimensional information to be0.45 Hz,and it improves the optoelectric countmeasuring ability of the system for double targets.