Minimum deviation of triaxial velocity tracking tactic arithmetic for three-axis turntable

Xun BI; Tao CHEN; Wei-guo WANG; Ting-xia LIU; Bo LI

doi:10.3788/OPE.20192707.1528

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Minimum deviation of triaxial velocity tracking tactic arithmetic for three-axis turntable

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Minimum deviation of triaxial velocity tracking tactic arithmetic for three-axis turntable
- Optics and Precision Engineering Vol. 27, Issue 7, Pages: 1528-1535(2019)
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所，吉林长春 130033
  2.中国科学院大学，北京 100049
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20192707.1528
  CLC： TP273; V556
- Received：09 January 2019，
  
  Accepted：15 February 2019，
  
  Published：15 July 2019
- 稿件说明：
移动端阅览
Xun BI, Tao CHEN, Wei-guo WANG, et al. Minimum deviation of triaxial velocity tracking tactic arithmetic for three-axis turntable[J]. Optics and precision engineering, 2019, 27(7): 1528-1535.
DOI：

Xun BI, Tao CHEN, Wei-guo WANG, et al. Minimum deviation of triaxial velocity tracking tactic arithmetic for three-axis turntable[J]. Optics and precision engineering, 2019, 27(7): 1528-1535. DOI： 10.3788/OPE.20192707.1528.

摘要

目前在三轴转台跟踪中缺乏对运动目标进行有效解算的实时方法，而普遍应用的锁定横滚轴的地平式跟踪方法和锁定方位轴的水平式跟踪方法存在跟踪盲区问题，为此提出了一种三轴角速度偏差最小方法。对三轴转台建立运动模型，以各轴速度偏差平方和最小作为指标，利用转台轴角位置、轴角速度和跟踪目标位移等参数，建立运动模型的广义逆矩阵，求解出唯一确定的三轴转角偏差，将目标的空间指向变化平均分配到三个轴系，实现对三轴转台的实时伺服控制。相比于地平式方法和水平式方法，在跟踪越过盲区的目标时，MDTV方法可以大幅降低跟踪过程中转台的角速度和角加速度，保证跟踪转台平稳运行。在跟踪旋转靶标时，MDTV方法的跟踪偏差最大值只有地平式方法的15.4%。试验证明该方法可以解决跟踪盲区问题，能够提高设备的跟踪精度。

Abstract

Few real-time methods exist for three-axis turntable tracking when attemping to solve the orientation change of targets. The alt-azimuth and alt-alt methods

which lock the roll and azimuth axes of the turntable

respectively

are mostly utilized. However

these two methods suffer from the problem of tracking in blind zones. In this study

a minimum deviation of triaxial velocity (MDTV) algorithm was proposed to improve the performance of three-axis turntable tracking. A motion model of a three-axis turntable was first established

and the minimum deviation of triaxial velocity was used as the index. The motion of the target

angular position

and angular velocity were then referenced. Finally

a general inverse matrix of the motion model was deduced. The results indicate that triaxial deflections are uniquely determined for distributing the orientation changes of a target into the triaxial tracking evenly

achieving a real-time servo in the three-axis turntable. Compared to the alt-azimuth and alt-alt tracking methods

the MDTV method significantly reduces the angular velocities and accelerations in the tracking process and ensured smooth running when tracking targets are in a blind zone. When a rotating target is tracked

the maximum pointing deviation with the MDTV method is only 15.4% of that with the alt-azimuth method. The study thus proves that the MDTV method can solve the problem of tracking in blind zones and improve the tracking accuracy of a three-axis turntable.

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