PID target tracking control method based on additional integrated module

A technology of integrated modules and control methods, applied in the field of PID controllers, can solve problems such as high-level loop instability, and achieve the effects of low cost, small amount of calculation, and high tracking accuracy

Active Publication Date: 2021-05-28
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, the disadvantage of the high-type loop is the instability caused by the phase lag. In order to better apply the advantages of the control algorithm, the parameter adjustment of the controller is still the top priority.

Method used

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  • PID target tracking control method based on additional integrated module
  • PID target tracking control method based on additional integrated module
  • PID target tracking control method based on additional integrated module

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Embodiment Construction

[0021] Embodiments of the present invention are described below in conjunction with the accompanying drawings. But following embodiment only limits to explain the present invention, and protection scope of the present invention should include the whole content that claim limits; And promptly can realize the whole content of claim of the present invention to those skilled in the art through following embodiment.

[0022] A kind of PID target tracking control method based on the additional integration module of the present invention, specifically comprises the following steps:

[0023] (1) control block diagram of the present invention such as figure 1 shown. This block diagram uses the output signal y to perform the tracking function on the input signal r. Among them, G(s) is the position of the controlled object measured by the image sensor, C(s) is the controller, which is used to output the voltage signal u, e is the tracking error detected by the image sensor, F(s) is the...

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Abstract

The invention provides a PID target tracking control method based on an additional integrated module. In the field of target tracking control, a target always moves at a low intermediate frequency, so that the tracking precision of the low intermediate frequency is a problem generally concerned by the system. According to the method, a controlled object is firstly identified on a photoelectric tracking experiment platform, then a PID controller based on an additional integrated module is designed, a multi-target optimization algorithm is adopted for solving the problem of parameter adjustment in the controller, and finally target tracking is completed after the control method is implemented. The known performance index representing the tracking precision of the photoelectric tracking system is the error suppression capability, and after a PID controller based on an additional integrated module is compared with a PID control method without an integrated module, the error suppression capability of the control method provided by the invention is obviously superior to that of PID at low and intermediate frequencies, and the effect of improving the tracking precision is achieved.

Description

technical field [0001] The invention belongs to the field of photoelectric system tracking control, and in particular relates to a PID controller based on an additional integrated module for target tracking. The additional integrated module is added to the traditional PID controller to control the motor voltage signal, effectively improve the error suppression ability of the system, and fully improve the tracking accuracy of the photoelectric tracking system. Background technique [0002] The photoelectric tracking system is composed of main control, servo, image, signal transmission and other sub-systems. After receiving the deviation signal from the image sensor, the servo system drives the motor to rotate according to the output signal-voltage of the controller, thereby reducing the tracking error. Therefore, the design of the controller in the servo system is an important factor affecting the tracking accuracy. In most cases, the system is always designed as a type-one ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42Y02P90/02
Inventor 毛耀段倩文何秋农刘超
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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