三轴光电跟踪系统跟踪策略和控制研究
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摘要
光电跟踪系统是一个由光电探测、信号处理、控制系统、光学系统以及精密机架等多个部分组成的复杂系统。它以高于微波频率的光波为信息的载体，具有极高的时域、空域、频域分辨率，特强的抗电磁干扰能力，独有的夜间观察功能和良好的战场适应性。因此，光电跟踪系统是现代化战争中获取信息的重要手段，在低可观测性目标探测、高分辨率目标识别、精确制导、火控瞄准、飞行辅助和信息对抗等军事应用领域具有良好的应用前景。除军事应用领域，光电跟踪系统目前在激光通信、天文观测、航空摄影、靶场测试等民用领域也都取得了日益广泛的应用。
因此，光电跟踪系统的研制受到世界各国的普遍关注。随着科学技术的迅速发展，光电跟踪系统无论是在军事领域还是在工业和科学研究领域都具有更加广泛的发展前景。同时，现代社会的发展也对光电跟踪系统的设计和研制提出了更高的要求，如高精度、高速度、强适应性等。特别是在军事应用领域，随着现代化武器的不断发展，以高分辨率和抗电子干扰为突出特点的军用光电跟踪系统已成为当今世界高技术军事装备研究的重点之一。如何最大限度地发挥出光电跟踪系统的优势，实现对全空间高速运动目标的快速捕获和高精度的稳定跟踪瞄准，是目前光电跟踪系统研究的重点和难点。
为实现以上研究目标，在光电跟踪系统设计中，除了要有高性能的光电传感元件之外，跟踪快速性好、跟踪性能优越的跟踪策略，以及快速灵活、控制精度高的伺服系统也是不可或缺的关键。所以，对光电跟踪系统的跟踪策略和控制方法的研究已成为必然。
本文以三轴光电跟踪系统为研究对象，基于系统的精确性和准确性，设计了三轴光电跟踪系统的跟踪策略，并在此基础上研究运动平台光电跟踪系统的跟踪策略；同时建立了三轴光电跟踪系统的机电动力学方程，设计了三轴光电跟踪系统的稳定控制方法；最后，实现了三轴光电跟踪系统实验装置的三轴联动全空间连续跟踪运动。主要内容如下：
1．基于刚体定轴转动的四元数描述方法，在详细分析光电跟踪系统运动学特性的基础上，分别建立了两轴和三轴光电跟踪系统的运动学模型。分析了两轴光电跟踪系统跟踪盲区产生的原因。同时，研究了三轴光电跟踪系统的运动位置和速度之间的关系，并以此为基础，证明了三轴光电跟踪系统的无盲区全空间跟踪特性。最后，分析了光电跟踪系统偏距的产生对系统性能的影响。
2．以三轴光电跟踪系统为研究对象，以实现系统的跟踪快速性为研究目标，基于摩尔-彭诺斯广义逆矩阵的特性，应用极小范数最小二乘解理论，设计了三轴光电跟踪系统的跟踪策略，实现了光电跟踪系统的全空间无盲区跟踪和三轴联动连续跟踪，提高了光电跟踪系统的跟踪快速性和跟踪性能。然后通过与现有的两轴跟踪策略以及三轴切换跟踪策略的跟踪结果进行比较，验证了所设计跟踪策略的有效性。
3．以三轴光电跟踪系统为研究对象，设计了一种基于智能优化的三轴跟踪策略。通过分析系统中三轴转角之间的关系，将求解三轴角增量的三维函数优化问题简化为求解一维函数最优值问题。同时，设计了一种自适应差分进化算法，并将此算法应用于三轴光电跟踪系统的跟踪策略中，基于系统的跟踪准确性要求和应用适应性要求，实现了三轴光电跟踪系统的全空间无误差跟踪运动。然后通过与现有的两轴跟踪策略以及三轴切换跟踪策略的跟踪结果进行比较，验证了所设计跟踪策略的有效性。
4．研究了运动平台三轴光电跟踪系统的跟踪策略，重点研究了车载和机载三轴光电跟踪系统的跟踪策略。将所设计的两种三轴跟踪策略应用于系统对运动目标的跟踪过程中，研究了两种跟踪策略的不同应用条件，并与现有的跟踪策略相比较，分析所设计的三轴跟踪策略的跟踪性能。
5．应用拉格朗日-麦克斯韦方程，在考虑系统的传动齿隙和摩擦的基础上，建立了三轴光电跟踪系统的机电动力学模型，并以此为基础，研究了三轴光电跟踪系统的稳定控制方法。将模糊控制与PID控制相结合，并引入了自适应控制理论和参考模型控制理论，设计了三轴光电跟踪系统的基于参考模型的自适应模糊PID控制器，并通过仿真与PID控制器和模糊PID控制器相比较，以验证所设计的控制器的控制性能。
6．分析了三轴光电跟踪系统实验装置的设计原理、结构组成、功能实现和专用软件介绍。在此基础上，将本文所设计的三轴跟踪策略应用于三轴光电跟踪系统实验装置的实际跟踪运动中，实现了三轴光电跟踪系统的三轴联动全空间无盲区连续跟踪运动，验证了本文研究的实际应用价值。
A photoelectric tracking system is a complex system which is composed by thephotoelectric detector, the signal processing system, the control system, the opticalsystem and the precise machine frame. The signal of the photoelectric tracking system iscarried by light-wave, which has a higher frequency than microwave. Therefore, thetactical performance of the photoelectric tracking system is constitutionally improved.The photoelectric tracking system has high resolution in frequency domain, timedomain and airspace. Furthermore, it has the excellent anti-electromagnetisminterference ability and adaptability on the battlefield. Then the photoelectric trackingsystem is one of the important means for gaining information in modern war, such asthe detection of weak observable target, the high-resolution target identification, theprecision guidance technology, the fire-control aim, the assistance of plane, and theinformation countermeasure. Besides the military domain, photoelectric tracking systemhas an increasingly extensive application in the civil area, such as laser communication,astronomical observation, aero photography, and the measurement of shooting range.
Therefore, the design of the photoelectric tracking system has received attention.With the rapid development of science and technology, photoelectric tracking systemhas a better development prospect in the military domain and scientific research field. Inthe meantime, the development of modern society has a higher demand for the designand development of photoelectric tracking system, such as high-precision, high-speed,and high-adaptability. Especially in military domain, the military photoelectric trackingsystem is the emphasis of high-technology military research, which has high resolutionand excellent ant-jamming ability. The emphasis and difficulty in research is how totake the advantages of the photoelectric tracking system, and realize the stabilitytracking movement for the high-speed motion target in the whole space quickly andaccurately.
For achieving the above research objectives, the tracking strategy with high speedand excellent tracking performance, and the servo system with more extensiveapplicability and high control stability are the points and key technologies in the designof photoelectric tracking system, besides the high performance photoelectric transducer.Then the research of tracking strategy and control method of photoelectric trackingsystem is inevitable.
In this dissertation, a three-axis photoelectric tracking system is investigated. The tracking strategy of three-axis photoelectric tracking system is designed, and thetracking strategy of the photoelectric tracking system with motion platform is discussed.The dynamic equation of three-axis photoelectric tracking system is built, and thecontrol method of three-axis electromechanical dynamic system is designed. At last, thethree-axis linkage continuous tracking movement of three-axis photoelectric trackingequipment is realized in the whole space. The main work is organized as follows:
1. The kinematical characteristics of two-axis tracking system and three-axistracking system are analyzed, and the kinematical equations are built by usingquaternion method. The blind tracking region of two-axis tracking system is analyzed.Then the relationship between the position and the speeds of three axes in three-axistracking system is researched, and the tracking character of three-axis tracking systemwithout tracking blind region in the whole space is proved. At last, the effects ofdeflection distance for the tracking capability are analyzed.
2. Based on the character of Moore-Penrose generalized inverse matrix, a newtracking strategy of three-axis photoelectric tracking system is designed by using theminimum norm least squares solution. This tracking strategy realizes the three-axislinkage continuous tracking movement of the tracking system in the whole spacewithout the blind region, which improves the tracking speed and performance of thetracking system. Then the tracking strategy is compared with two-axis tracking strategyand three-axis switch tracking strategy for proving the efficiency of the trackingstrategy.
3. A tracking strategy of three-axis tracking system is designed by using theintelligence optimization. Through the analysis of the relationship in the three axesangles, the three-variable optimization for solving the three axes angular increments issimplified as the single-variable optimization. For realizing the tracking accuracy andthe application adaptability of tracking system, a new adaptive differential evolution isdesigned for the tracking strategy of three-axis tracking system, and this trackingstrategy could track the target in the whole space without tracking error. Then thetracking strategy is compared with two-axis tracking strategy and three-axis switchtracking strategy for proving the effectiveness of the tracking strategy.
4. The tracking strategy of three-axis tracking system with motion platform isresearched, including vehicle three-axis tracking system and airborne three-axis trackingsystem. The above two kind of three-axis tracking strategies are applied in the trackingprocess, and the application condition of these tracking strategies is discussed. Then thetracking performance of the strategy is analyzed by compared with other existing tracking strategies.
5. Considering the backlash and friction in the tracking system, theelectromechanical dynamic model is established by using Lagrange-Maxwell Functions.Then the stability control method of three-axis photoelectric tracking system is designed,which is compounded with the fuzzy control method, PID control method, and themodel reference adaptive control theory. The control stability and performance areproved from the simulation by compared with PID control method and fuzzy PIDcontrol method.
6. The designing principle and the structure of three-axis photoelectric trackingequipment are analyzed, and the functions and the software of equipment are introduced.Then the three-axis tracking strategies are applied to the tracking movement ofthree-axis photoelectric tracking equipment, and then the tracking equipment couldachieve the three-axis linkage continuous tracking movement of three-axis trackingsystem without the blind region in the whole space, which proves the practicalapplication value of the research.
因此，光电跟踪系统的研制受到世界各国的普遍关注。随着科学技术的迅速发展，光电跟踪系统无论是在军事领域还是在工业和科学研究领域都具有更加广泛的发展前景。同时，现代社会的发展也对光电跟踪系统的设计和研制提出了更高的要求，如高精度、高速度、强适应性等。特别是在军事应用领域，随着现代化武器的不断发展，以高分辨率和抗电子干扰为突出特点的军用光电跟踪系统已成为当今世界高技术军事装备研究的重点之一。如何最大限度地发挥出光电跟踪系统的优势，实现对全空间高速运动目标的快速捕获和高精度的稳定跟踪瞄准，是目前光电跟踪系统研究的重点和难点。
为实现以上研究目标，在光电跟踪系统设计中，除了要有高性能的光电传感元件之外，跟踪快速性好、跟踪性能优越的跟踪策略，以及快速灵活、控制精度高的伺服系统也是不可或缺的关键。所以，对光电跟踪系统的跟踪策略和控制方法的研究已成为必然。
本文以三轴光电跟踪系统为研究对象，基于系统的精确性和准确性，设计了三轴光电跟踪系统的跟踪策略，并在此基础上研究运动平台光电跟踪系统的跟踪策略；同时建立了三轴光电跟踪系统的机电动力学方程，设计了三轴光电跟踪系统的稳定控制方法；最后，实现了三轴光电跟踪系统实验装置的三轴联动全空间连续跟踪运动。主要内容如下：
1．基于刚体定轴转动的四元数描述方法，在详细分析光电跟踪系统运动学特性的基础上，分别建立了两轴和三轴光电跟踪系统的运动学模型。分析了两轴光电跟踪系统跟踪盲区产生的原因。同时，研究了三轴光电跟踪系统的运动位置和速度之间的关系，并以此为基础，证明了三轴光电跟踪系统的无盲区全空间跟踪特性。最后，分析了光电跟踪系统偏距的产生对系统性能的影响。
2．以三轴光电跟踪系统为研究对象，以实现系统的跟踪快速性为研究目标，基于摩尔-彭诺斯广义逆矩阵的特性，应用极小范数最小二乘解理论，设计了三轴光电跟踪系统的跟踪策略，实现了光电跟踪系统的全空间无盲区跟踪和三轴联动连续跟踪，提高了光电跟踪系统的跟踪快速性和跟踪性能。然后通过与现有的两轴跟踪策略以及三轴切换跟踪策略的跟踪结果进行比较，验证了所设计跟踪策略的有效性。
3．以三轴光电跟踪系统为研究对象，设计了一种基于智能优化的三轴跟踪策略。通过分析系统中三轴转角之间的关系，将求解三轴角增量的三维函数优化问题简化为求解一维函数最优值问题。同时，设计了一种自适应差分进化算法，并将此算法应用于三轴光电跟踪系统的跟踪策略中，基于系统的跟踪准确性要求和应用适应性要求，实现了三轴光电跟踪系统的全空间无误差跟踪运动。然后通过与现有的两轴跟踪策略以及三轴切换跟踪策略的跟踪结果进行比较，验证了所设计跟踪策略的有效性。
4．研究了运动平台三轴光电跟踪系统的跟踪策略，重点研究了车载和机载三轴光电跟踪系统的跟踪策略。将所设计的两种三轴跟踪策略应用于系统对运动目标的跟踪过程中，研究了两种跟踪策略的不同应用条件，并与现有的跟踪策略相比较，分析所设计的三轴跟踪策略的跟踪性能。
5．应用拉格朗日-麦克斯韦方程，在考虑系统的传动齿隙和摩擦的基础上，建立了三轴光电跟踪系统的机电动力学模型，并以此为基础，研究了三轴光电跟踪系统的稳定控制方法。将模糊控制与PID控制相结合，并引入了自适应控制理论和参考模型控制理论，设计了三轴光电跟踪系统的基于参考模型的自适应模糊PID控制器，并通过仿真与PID控制器和模糊PID控制器相比较，以验证所设计的控制器的控制性能。
6．分析了三轴光电跟踪系统实验装置的设计原理、结构组成、功能实现和专用软件介绍。在此基础上，将本文所设计的三轴跟踪策略应用于三轴光电跟踪系统实验装置的实际跟踪运动中，实现了三轴光电跟踪系统的三轴联动全空间无盲区连续跟踪运动，验证了本文研究的实际应用价值。
A photoelectric tracking system is a complex system which is composed by thephotoelectric detector, the signal processing system, the control system, the opticalsystem and the precise machine frame. The signal of the photoelectric tracking system iscarried by light-wave, which has a higher frequency than microwave. Therefore, thetactical performance of the photoelectric tracking system is constitutionally improved.The photoelectric tracking system has high resolution in frequency domain, timedomain and airspace. Furthermore, it has the excellent anti-electromagnetisminterference ability and adaptability on the battlefield. Then the photoelectric trackingsystem is one of the important means for gaining information in modern war, such asthe detection of weak observable target, the high-resolution target identification, theprecision guidance technology, the fire-control aim, the assistance of plane, and theinformation countermeasure. Besides the military domain, photoelectric tracking systemhas an increasingly extensive application in the civil area, such as laser communication,astronomical observation, aero photography, and the measurement of shooting range.
Therefore, the design of the photoelectric tracking system has received attention.With the rapid development of science and technology, photoelectric tracking systemhas a better development prospect in the military domain and scientific research field. Inthe meantime, the development of modern society has a higher demand for the designand development of photoelectric tracking system, such as high-precision, high-speed,and high-adaptability. Especially in military domain, the military photoelectric trackingsystem is the emphasis of high-technology military research, which has high resolutionand excellent ant-jamming ability. The emphasis and difficulty in research is how totake the advantages of the photoelectric tracking system, and realize the stabilitytracking movement for the high-speed motion target in the whole space quickly andaccurately.
For achieving the above research objectives, the tracking strategy with high speedand excellent tracking performance, and the servo system with more extensiveapplicability and high control stability are the points and key technologies in the designof photoelectric tracking system, besides the high performance photoelectric transducer.Then the research of tracking strategy and control method of photoelectric trackingsystem is inevitable.
In this dissertation, a three-axis photoelectric tracking system is investigated. The tracking strategy of three-axis photoelectric tracking system is designed, and thetracking strategy of the photoelectric tracking system with motion platform is discussed.The dynamic equation of three-axis photoelectric tracking system is built, and thecontrol method of three-axis electromechanical dynamic system is designed. At last, thethree-axis linkage continuous tracking movement of three-axis photoelectric trackingequipment is realized in the whole space. The main work is organized as follows:
1. The kinematical characteristics of two-axis tracking system and three-axistracking system are analyzed, and the kinematical equations are built by usingquaternion method. The blind tracking region of two-axis tracking system is analyzed.Then the relationship between the position and the speeds of three axes in three-axistracking system is researched, and the tracking character of three-axis tracking systemwithout tracking blind region in the whole space is proved. At last, the effects ofdeflection distance for the tracking capability are analyzed.
2. Based on the character of Moore-Penrose generalized inverse matrix, a newtracking strategy of three-axis photoelectric tracking system is designed by using theminimum norm least squares solution. This tracking strategy realizes the three-axislinkage continuous tracking movement of the tracking system in the whole spacewithout the blind region, which improves the tracking speed and performance of thetracking system. Then the tracking strategy is compared with two-axis tracking strategyand three-axis switch tracking strategy for proving the efficiency of the trackingstrategy.
3. A tracking strategy of three-axis tracking system is designed by using theintelligence optimization. Through the analysis of the relationship in the three axesangles, the three-variable optimization for solving the three axes angular increments issimplified as the single-variable optimization. For realizing the tracking accuracy andthe application adaptability of tracking system, a new adaptive differential evolution isdesigned for the tracking strategy of three-axis tracking system, and this trackingstrategy could track the target in the whole space without tracking error. Then thetracking strategy is compared with two-axis tracking strategy and three-axis switchtracking strategy for proving the effectiveness of the tracking strategy.
4. The tracking strategy of three-axis tracking system with motion platform isresearched, including vehicle three-axis tracking system and airborne three-axis trackingsystem. The above two kind of three-axis tracking strategies are applied in the trackingprocess, and the application condition of these tracking strategies is discussed. Then thetracking performance of the strategy is analyzed by compared with other existing tracking strategies.
5. Considering the backlash and friction in the tracking system, theelectromechanical dynamic model is established by using Lagrange-Maxwell Functions.Then the stability control method of three-axis photoelectric tracking system is designed,which is compounded with the fuzzy control method, PID control method, and themodel reference adaptive control theory. The control stability and performance areproved from the simulation by compared with PID control method and fuzzy PIDcontrol method.
6. The designing principle and the structure of three-axis photoelectric trackingequipment are analyzed, and the functions and the software of equipment are introduced.Then the three-axis tracking strategies are applied to the tracking movement ofthree-axis photoelectric tracking equipment, and then the tracking equipment couldachieve the three-axis linkage continuous tracking movement of three-axis trackingsystem without the blind region in the whole space, which proves the practicalapplication value of the research.
引文
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