非线性跟踪微分器在光电吊舱跟踪系统中的应用研究

Application of Nonlinear Tracking Differentiator in Photoelectric Pod Tracking System

针对光电吊舱跟踪过程中出现的滞后或超调问题,引入非线性跟踪微分器,实现跟踪微分器PD控制。详细介绍了非线性跟踪微分器的实现原理,建立了基于跟踪微分器PD位置控制模型,既可对给定信号进行滤波,避免引入噪声,又能为给定阶跃输入信号安排过渡过程,减少调节时间,实现输入信号平滑,避免控制系统过冲。仿真试验表明,同传统PD控制相比,非线性跟踪微分器PD控制跟踪精度提高近5倍。

Aiming at the problem of delay or overshoot in the tracking process of photoelectric pod,a nonlinear tracking differentiator is introduced to realize the tracking differentiator PD control.The realization principle of nonlinear tracking differentiator is introduced in detail.The PD position control model based on tracking differentiator is established,which can filter the given signal,avoid introducing noise,arrange the transition process for the given step input signal,reduce the adjustment time,realize the smooth input signal and avoid the overshoot of the control system.The simulation results show that the tracking accuracy of tracking differentiator PD control is improved by nearly 5 times compared with the traditional PD control.