双目标跟踪的三维信息非线性变结构控制

李焱; 张恩东; 周俊鹏

doi:10.3788/OPE.20162401.0187

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双目标跟踪的三维信息非线性变结构控制

信息科学 | 更新时间：2020-08-13

- 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
- 光学精密工程 2016年24卷第1期页码：187-194
- 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. 长春工业大学电气与电子工程学院,吉林长春,130012
- 作者简介：
- 基金信息：
  
  国家863高技术研究发展计划资助项目(No.2006aa701410)();中国科学院知识创新工程领域前沿项目()
- DOI：10.3788/OPE.20162401.0187
  中图分类号： TJ810.37;TP273
- 收稿日期：2015-05-15，
  
  修回日期：2015-07-17，
  
  纸质出版日期：2016-01-25
- 稿件说明：
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李焱, 张恩东, 周俊鹏. 双目标跟踪的三维信息非线性变结构控制[J]. 光学精密工程, 2016,24(1): 187-194

LI Yan, ZHANG En-dong, ZHOU Jun-peng. Variable structure control for three-dimensional information of double targets[J]. Editorial Office of Optics and Precision Engineering, 2016,24(1): 187-194
李焱, 张恩东, 周俊鹏. 双目标跟踪的三维信息非线性变结构控制[J]. 光学精密工程, 2016,24(1): 187-194 DOI： 10.3788/OPE.20162401.0187.

LI Yan, ZHANG En-dong, ZHOU Jun-peng. Variable structure control for three-dimensional information of double targets[J]. Editorial Office of Optics and Precision Engineering, 2016,24(1): 187-194 DOI： 10.3788/OPE.20162401.0187.

摘要

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2.3 s左右

比传统方法缩短了近1 s

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0.45 Hz

提高了双目标时系统的光电对抗能力。

Abstract

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 Bang-Bang 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 equipment spend around 2.3 s in 90° back and forth position

which is shorter nearly 1 s than that of traditional method. Meanwhile

the laser rangefinder gives the rate of three-dimensional information to be 0.45 Hz

and it improves the optoelectric countmeasuring ability of the system for double targets.

关键词

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references

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