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A high-precision tracking controller and tracking control method for airborne optoelectronic platform based on model error compensation

A tracking controller and photoelectric platform technology, applied in the field of tracking control, can solve the problems of complex control methods and unfavorable engineering implementation for airborne photoelectric platforms to track ground maneuvering targets, and meet the needs of high-precision control, good robustness, effective The effect that is conducive to the realization of the project

Active Publication Date: 2018-08-24
BEIHANG UNIV
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Problems solved by technology

[0011] In the process of considering external multi-source disturbances (such as turbulence, constant wind, gust, aircraft angular motion disturbance, etc.) The platform tracks ground maneuvering targets or the control method is too complex to be conducive to engineering implementation. A high-precision tracking control design method for airborne optoelectronic platforms based on model error compensation is proposed.

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  • A high-precision tracking controller and tracking control method for airborne optoelectronic platform based on model error compensation
  • A high-precision tracking controller and tracking control method for airborne optoelectronic platform based on model error compensation
  • A high-precision tracking controller and tracking control method for airborne optoelectronic platform based on model error compensation

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Embodiment Construction

[0051] The present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings.

[0052] The definition of the coordinate system involved in the present invention is:

[0053] (1) Ground coordinate system O g x g Y g Z g :

[0054] Pick a little O on the ground g , so that X g The axis points in a certain direction in the horizontal plane, Z g The axis is perpendicular to the ground and points to the center of the earth, Y g The axis is also in the horizontal plane and perpendicular to X g , whose orientation is determined by the right-hand rule.

[0055] (2) Body coordinate system O b x b Y b Z b :

[0056] Origin O b Choose at the center of mass of the aircraft, the body coordinate system is fixedly connected with the aircraft, X b Axis in the plane of symmetry of the aircraft and parallel to the design axis of the aircraft pointing towards the nose, Y b The axis is perpendicular to the plane of symmetry ...

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Abstract

The invention discloses an airborne photoelectric platform high precision tracking controller based on model error compensation and a tracking control method thereof, and belongs to the technical field of tracking control. The control method comprises the steps of: establishing and simplifying an airborne photoelectric platform model; designing an azimuth and pitching linear auto-disturbance-rejection controller; debugging parameters of the linear auto-disturbance-rejection controller and adjusting the parameters; establishing a model error compensation module to correct the control quantity; and realizing motion tracking of a ground maneuvering target. According to the invention, in the ground maneuvering target tracking process of an unmanned plane considering external multi-source disturbance, the problem of a conventional method that an airborne photoelectric platform cannot be precisely and stably controlled for tracking the ground maneuvering target or the control method is too complex to implement in engineering is solved.

Description

technical field [0001] The invention belongs to the technical field of tracking control, and relates to reconnaissance, monitoring, observation, tracking and imaging systems such as airborne optoelectronic platform systems, and specifically refers to a high-precision tracking control of airborne optoelectronic platforms based on model error compensation device and its tracking control method. Background technique [0002] The photoelectric platform is a new type of image reconnaissance equipment that has developed extremely rapidly in the past ten years. The photoelectric platform is a system that uses photoelectric detection devices as sensitive components, and uses electromechanical control to keep the line of sight of the detector stable, so as to realize the functions of capturing, tracking, aiming and stabilizing the target. With the development of related technologies such as new optical and structural materials, researchers have successfully achieved the goal of redu...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 王宏伦刘畅邵星灵姚鹏
Owner BEIHANG UNIV
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