CN105373146B - A kind of photoelectric tracking delay compensation system and method based on adaptive notch filter - Google Patents
A kind of photoelectric tracking delay compensation system and method based on adaptive notch filter Download PDFInfo
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- CN105373146B CN105373146B CN201510831409.2A CN201510831409A CN105373146B CN 105373146 B CN105373146 B CN 105373146B CN 201510831409 A CN201510831409 A CN 201510831409A CN 105373146 B CN105373146 B CN 105373146B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
- G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices
Abstract
The invention discloses a kind of photoelectric tracking delay compensation system based on adaptive notch filter, including：Controller, signal processor, adaptive notch filter, monitoring platform and the monitor installed in monitoring platform；Wherein, signal processor generates the rate signal that misses the target based on the target information that monitor feeds back, and sends it to controller；Adaptive notch filter extracts the first signal from the rate signal that misses the target, and secondary signal is generated after carrying out phase compensation to the first signal；And secondary signal is sent to controller；Monitor that platform obtains monitor rate signal, and monitor rate signal is fed back into controller；Controller is based on miss the target rate signal, secondary signal and monitor rate signal the first control signal of output, control monitor tracking target.The present invention can compensate to the delay of photoelectric follow-up, and with the advantages of tracking accuracy is high, stability is good.
Description
Technical field
The present invention relates to photoelectric tracking field, more particularly to a kind of photoelectric tracking delay compensation based on adaptive notch filter
System and method.
Background technology
Photoelectric follow-up measures target and the deviation of the optical axis by photoelectric device, and sends it to controller, controls
Thus device controls photoelectric device to move, the deviation between reduction and target, and then realizes the tracking to target.Photoelectric tracking system
There is certain delay in system, delay can cause the open-loop cut-off frequency of system and open loop to increase in the transmission of signal and feedback procedure
Benefit reduces, and the dynamic response and tracking accuracy for causing system decline.The existing method to solve the above problems has Smith Predictor
Method, internal model control method, kalman filter method and predictive compensation method, the above method need accurate system model or
Noise model just can guarantee that output accurate and effective, therefore reduce the adaptability of method practical application.
Therefore, need badly it is a kind of independent of the photoelectric tracking delay compensation method of system model or noise model to solve on
State problem.
The content of the invention
The invention provides a kind of photoelectric tracking delay compensation system and method based on adaptive notch filter, utilization are adaptive
Answer trapper to go out error signal extraction, be added to feedforward compensation passage, so as to compensate due to delayed phase caused by delay.This
Invention need not establish system model or noise model, it is not required that improve the open-loop gain of system, have tracking accuracy high, steady
The advantages of qualitative good.
One aspect of the present invention provides a kind of photoelectric tracking delay compensation system based on adaptive notch filter, and its feature exists
In, including：Controller, signal processor, adaptive notch filter, monitoring platform and the monitor installed in monitoring platform；Its
In, monitor obtains target information, and target information is fed back into signal processor；Target letter of the signal processor based on reception
Breath generation is missed the target rate signal, and the rate signal that will miss the target is sent to controller and sef-adapting filter；Adaptive notch filter exists
Under the control of controller, the first signal is extracted from the rate signal that misses the target, second is generated after carrying out phase compensation to the first signal
Signal；And secondary signal is sent to controller；Monitor that platform obtains monitor rate signal, and monitor rate signal is anti-
It is fed to controller；Controller is based on miss the target rate signal, secondary signal and monitor rate signal the first control signal of output, control
Monitor processed tracks target；First signal is that frequency in rate signal of missing the target is less than 1Hz component；Monitor rate signal
Azimuth, Speed, Altitude signal and rate of pitch signal including monitor.
Preferably, generation secondary signal is specially after adaptive notch filter carries out phase compensation to the first signal：Adaptively
Trapper detects the phase of the first signal, and the phase of the first signal is reduced, and generates secondary signal.
Preferably, controller is based on miss the target rate signal, secondary signal and monitor rate signal output the first control letter
Number be specially：Controller is based on miss the target rate signal, secondary signal generation reference signal, and according to reference signal and monitor speed
Spend the control signal of signal output first.
Preferably, target information of the signal processor based on reception generates the position signalling that misses the target；Monitor that platform obtains monitoring
Device position signalling, and monitor position signal is fed back into controller；Controller is based on miss the target position signalling and monitor position
The control signal of signal output second, control monitor tracking target；The orientation angles that monitor position signal includes monitor are believed
Number and luffing angle signal.
Preferably, monitoring platform includes：Azimuth axis, pitch axis, the first motor for being installed on azimuth axis, it is installed on azimuth axis
The first code-disc, be installed on the second motor of pitch axis and be installed on the second code-disc of pitch axis；Wherein, the first code-disc obtains
The orientation angles signal and Azimuth, Speed, Altitude signal of monitor, and orientation angles signal and Azimuth, Speed, Altitude signal are fed back into control
Device processed；Second code examines and seizes the luffing angle signal and rate of pitch signal for taking monitor, and by luffing angle signal and pitching
Angular velocity signal feeds back to controller；First motor and the second motor are torque motor；Monitor surrounds azimuth axis and pitch axis
Rotation, to track target.
Preferably, the output end connection power amplifier of controller, the first control signal and the second control signal pass through work(
After rate amplifier amplification, control monitor tracking target.
Another aspect of the present invention provides a kind of photoelectric tracking delay compensation method based on adaptive notch filter, and its feature exists
In signal processor generates the rate signal that misses the target based on the target information that monitor obtains, and the rate signal that will miss the target is sent to
Controller and adaptive notch filter；Adaptive notch filter extracts the first signal from the rate signal that misses the target, and the first signal is carried out
Secondary signal is generated after phase compensation；And secondary signal is sent to controller；Monitor that platform believes the monitor speed of acquisition
Number feed back to controller；Controller is based on miss the target rate signal, secondary signal and monitor rate signal output the first control letter
Number, control monitor tracking target；First signal is that frequency in rate signal of missing the target is less than 1Hz component；Monitor speed
Degree signal includes the Azimuth, Speed, Altitude signal and rate of pitch signal of monitor.
Preferably, generation secondary signal is specially after adaptive notch filter carries out phase compensation to the first signal：Adaptively
Trapper detects the phase of the first signal, and the phase of the first signal is reduced, and generates secondary signal.
Preferably, controller is based on miss the target rate signal, secondary signal and monitor rate signal output the first control letter
Number be specially：Controller is based on miss the target rate signal, secondary signal generation reference signal, and according to reference signal and monitor speed
Spend the control signal of signal output first.
Preferably, target information of the signal processor based on reception generates the position signalling that misses the target；Monitor platform by acquisition
Monitor position signal feeds back to controller；Controller is based on missing the target position signalling and monitor position signal output second controls
Signal, control monitor tracking target；Monitor position signal includes the orientation angles signal and luffing angle signal of monitor.
, can be not according to the photoelectric tracking delay compensation system and method provided by the invention based on adaptive notch filter
Dependent on system model or noise model, the delay in the case of the open-loop gain of system to photoelectric follow-up is not improved yet and is entered
Row compensation, and with the advantages of tracking accuracy is high, stability is good.
Brief description of the drawings
Fig. 1 is the schematic diagram of the photoelectric tracking delay compensation system and method for the present invention；
Fig. 2 is the error curve diagram before the photoelectric tracking delay compensation method use of the present invention；
Fig. 3 is the error curve diagram after the photoelectric tracking delay compensation method use of the present invention.
Embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, referring to the drawings and preferred reality is enumerated
Example is applied, the present invention is described in more detail.However, it is necessary to illustrate, many details listed in specification are only to be
Reader is set to have a thorough explanation to the one or more aspects of the present invention, even without these specific details can also
Realize the aspects of the invention.
Photoelectric follow-up delay compensation method, which exists, in the prior art relies on system model or raising system open loop gain
And the shortcomings that causing the stability of a system to reduce.
The invention provides a kind of photoelectric tracking delay compensation system and method based on adaptive notch filter, utilization are adaptive
Answer trapper to go out error signal extraction, be added to feedforward compensation passage, so as to compensate due to delayed phase caused by delay.This
Invention need not establish system model or noise model, it is not required that improve the open-loop gain of system, have tracking accuracy high, steady
The advantages of qualitative good.
One aspect of the present invention provides a kind of photoelectric tracking delay compensation system based on adaptive notch filter, as shown in figure 1,
Including：Controller, signal processor, adaptive notch filter, monitoring platform and the monitor installed in monitoring platform；Wherein, supervise
Visual organ obtains target information, and target information is fed back into signal processor；Target information life of the signal processor based on reception
Into the rate signal that misses the target, and the rate signal that will miss the target is sent to controller and adaptive notch filter；Adaptive notch filter is controlling
Under the control of device, the first signal is extracted from the rate signal that misses the target, secondary signal is generated after carrying out phase compensation to the first signal；
And secondary signal is sent to controller；Monitor that platform obtains monitor rate signal, and monitor rate signal is fed back to
Controller；Controller is based on miss the target rate signal, secondary signal and monitor rate signal the first control signal of output, control prison
Visual organ tracks target；First signal is that frequency in rate signal of missing the target is less than 1Hz component；Monitor rate signal includes monitoring
The Azimuth, Speed, Altitude signal and rate of pitch signal of device.
Controller is used for position, the speed double closed loop feedback control for realizing system, and is based on adaptive-filtering programme-control
Phase compensation of the adaptive notch filter to input signal.
In a preferred embodiment of the invention, controller is the control system for core with DSP (digital signal processor).
Signal processor is used to handle the target information that monitor obtains, and obtains deviation of the target relative to the optical axis
(miss distance), and then miss the target rate signal and the position signalling that misses the target difference input controller are generated, to realize to monitor speed
And the control of position.
Adaptive notch filter is the bandstop filter for having adaptive optimization parameter function, its under the control of the controller,
Based on adaptive-filtering program, the component that frequency in the rate signal that misses the target is less than 1Hz, i.e. the first signal are extracted, and believe first
Number carry out phase compensation.The adjustment of adaptive notch filter parameter is adaptively completed according to the difference of frequency input signal, and
Independent of system model or noise model.Because tracking error signal is mainly the signal that frequency is less than 1Hz, therefore adaptive notch
Device is extracted, and carries out phase compensation to it.
Signal by phase compensation enters controller, to the rate signal that misses the target because delayed phase caused by delay is mended
Repay, improve the phase margin of system low-frequency range, and then improve the tracking accuracy and stability of system.
Preferably, the adaptive-filtering program of adaptive notch filter is based on LMS (lowest mean square) algorithm in the present invention.
In a preferred embodiment of the invention, during rate signal is missed the target in adaptive notch filter extraction, frequency is from 0.1Hz to 1Hz
Component, thus, it is possible to more accurately be extracted to tracking error signal.
In a preferred embodiment of the invention, adaptive notch filter generates secondary signal after carrying out phase compensation to the first signal
Specially：Adaptive notch filter detects the phase δ of the first signal1, and the phase of the first signal is reduced, secondary signal is generated,
The phase of secondary signal is δ2；δ2It is related to the rate signal that misses the target of input adaptive trapper, and according to specific tasks require into
Row is set.
In a preferred embodiment of the invention, target information of the signal processor based on reception generates the position signalling that misses the target；Prison
Monitor position signal is obtained depending on platform, and monitor position signal is fed back into controller；Controller is according to the position letter that misses the target
Number and monitor position signal difference, voltage control signal i.e. the second control signal is calculated, to monitor carry out position
Control；Monitor position signal includes the orientation angles signal and luffing angle signal of monitor.
In a preferred embodiment of the invention, monitor platform using azimuth axis, pitch axis rock-steady structure, each axle installing force
Torque motor and photoelectric code disk；Servo Control Mode is position, speed double-closed-loop control；The photoelectric code disk of each axle will measure
Angle and angular velocity information feed back to controller.
Specifically, the first code-disc for being installed on azimuth axis obtains the orientation angles signal and Azimuth, Speed, Altitude letter of monitor
Number, and orientation angles signal and Azimuth, Speed, Altitude signal are fed back into controller；The second code for being installed on pitch axis is examined and seized and takes prison
The luffing angle signal and rate of pitch signal of visual organ, and luffing angle signal and rate of pitch signal are fed back into control
Device；Azimuth axis is provided with the first motor, and pitch axis is provided with the second motor.
In a preferred embodiment of the invention, monitor is rotated to realize the tracking to target around azimuth axis and pitch axis.
In a preferred embodiment of the invention, controller is based on miss the target rate signal, secondary signal generation reference signal, and root
According to reference signal and the difference of monitor rate signal, voltage control signal i.e. the first control signal is calculated, utilizes first
Control signal carries out speed control to monitor.
In a preferred embodiment of the invention, the output end connection power amplifier of controller, the first control signal and second
Control signal is after power amplifier amplifies, control monitor tracking target.
In a preferred embodiment of the invention, monitor is the photoelectric device with image collecting function, including：Infrared sensing
Device and visible light sensor.
Another aspect of the present invention provides a kind of photoelectric tracking delay compensation method based on adaptive notch filter, including：Letter
Number processor is missed the target rate signal based on the target information generation that monitor obtains, and the rate signal that will miss the target is sent to controller
And adaptive notch filter；Adaptive notch filter extracts the first signal from the rate signal that misses the target, and phase benefit is carried out to the first signal
Secondary signal is generated after repaying；And secondary signal is sent to controller；Monitor that platform feeds back the monitor rate signal of acquisition
To controller；Controller is based on miss the target rate signal, secondary signal and monitor rate signal the first control signal of output, control
Monitor tracks target；First signal is that frequency in rate signal of missing the target is less than 1Hz component；Monitor rate signal includes prison
The Azimuth, Speed, Altitude signal and rate of pitch signal of visual organ.
In a preferred embodiment of the invention, adaptive notch filter generates secondary signal after carrying out phase compensation to the first signal
Specially：Adaptive notch filter detects the phase of the first signal, and the phase of the first signal is reduced, and generates secondary signal.
In a preferred embodiment of the invention, controller is based on miss the target rate signal, secondary signal generation reference signal, and root
According to reference signal and the difference of monitor rate signal, voltage control signal i.e. the first control signal is calculated, utilizes first
Control signal carries out speed control to monitor.
In a preferred embodiment of the invention, target information of the signal processor based on reception generates the position signalling that misses the target；Prison
Monitor position signal is obtained depending on platform, and monitor position signal is fed back into controller；Controller is according to the position letter that misses the target
Number and monitor position signal difference, voltage control signal i.e. the second control signal is calculated, to monitor carry out position
Control；Monitor position signal includes the orientation angles signal and luffing angle signal of monitor.
Fig. 2 is the error curve diagram before the photoelectric tracking delay compensation method use of the present invention, and Fig. 3 is the photoelectricity of the present invention
Track the error curve diagram after delay compensation method use.Fig. 2, Fig. 3 are tracking errors (unit mrad) with time (unit
For change curve s)；1 tracking error curve for the present invention using preceding azimuth direction in Fig. 2,2 use preceding pitching for the present invention
The tracking error curve in direction；3 tracking error curve for the present invention using back side direction in Fig. 3,4 is after uses of the present invention
The tracking error curve of pitch orientation.Comparison diagram 2, Fig. 3 be can see, and orientation, pitch orientation are significantly reduced using the present invention
Tracking error.Meanwhile tracking error curve can be calculated：Orientation RMS (r.m.s.) is 3.3357mrad in Fig. 2,
Pitching RMS is 2.9484mrad；Orientation RMS is 0.6894mrad in Fig. 3, and pitching RMS is 0.5963mrad.It can be seen that using this
Invention is effectively improved the tracking accuracy and stability of system.
The present invention error signal extraction is gone out using adaptive notch filter, be added to feedforward compensation passage, so as to compensate by
In delayed phase caused by delay.The present invention need not establish system model or noise model, it is not required that improve opening for system
Ring gain, there is the advantages of tracking accuracy is high, stability is good.
Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is
The hardware of correlation is instructed to complete by program, the program can be stored in a computer read/write memory medium, such as：
ROM/RAM, magnetic disc, CD etc..
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (9)
- A kind of 1. photoelectric tracking delay compensation system based on adaptive notch filter, it is characterised in that including：Controller, signal Processor, adaptive notch filter, monitoring platform and the monitor installed in monitoring platform；Wherein,Monitor obtains target information, and target information is fed back into signal processor；Target information of the signal processor based on reception generates the rate signal that misses the target, and the rate signal that will miss the target is sent to controller And adaptive notch filter；Adaptive notch filter under the control of the controller, extracts the first signal from the rate signal that misses the target, and the first signal is carried out Secondary signal is generated after phase compensation；And secondary signal is sent to controller；Monitor that platform obtains monitor rate signal, and monitor rate signal is fed back into controller；Controller is based on miss the target rate signal, secondary signal and monitor rate signal the first control signal of output, control monitoring Device tracks target；First signal is that frequency in rate signal of missing the target is less than 1Hz component；Monitor rate signal includes the Azimuth, Speed, Altitude signal and rate of pitch signal of monitor；Monitoring platform includes：Azimuth axis, pitch axis, the first motor for being installed on azimuth axis, the first code-disc for being installed on azimuth axis, It is installed on the second motor of pitch axis and is installed on the second code-disc of pitch axis；Wherein,First code-disc obtains the orientation angles signal and Azimuth, Speed, Altitude signal of monitor, and by orientation angles signal and azimuth Rate signal feeds back to controller；Second code examines and seizes the luffing angle signal and rate of pitch signal for taking monitor, and by luffing angle signal and the angle of pitch Rate signal feeds back to controller；First motor and the second motor are torque motor；Monitor rotates around azimuth axis and pitch axis, to track target.
- 2. the system as claimed in claim 1, it is characterised in that adaptive notch filter carries out life after phase compensation to the first signal It is specially into secondary signal：Adaptive notch filter detects the phase of the first signal, and the phase of the first signal is reduced, generation the Binary signal.
- 3. system as claimed in claim 2, it is characterised in that controller is based on miss the target rate signal, secondary signal and monitoring Device rate signal exports the first control signal：Controller is based on miss the target rate signal, secondary signal generation reference signal, and is believed according to reference signal and monitor speed Number output the first control signal.
- 4. system as claimed in claim 3, it is characterised in thatTarget information of the signal processor based on reception generates the position signalling that misses the target；Monitor that platform obtains monitor position signal, and monitor position signal is fed back into controller；Controller is based on miss the target position signalling and the control signal of monitor position signal output second, control monitor tracking mesh Mark；Monitor position signal includes the orientation angles signal and luffing angle signal of monitor.
- 5. the system as described in claim 1-4 is any, it is characterised in that the output end connection power amplifier of controller, the One control signal and the second control signal are after power amplifier amplifies, control monitor tracking target.
- A kind of 6. photoelectric tracking delay compensation method based on adaptive notch filter, it is characterised in that including：Signal processor generates the rate signal that misses the target based on the target information that monitor obtains, and the rate signal that will miss the target is sent to Controller and adaptive notch filter；Adaptive notch filter extracts the first signal from the rate signal that misses the target, and second is generated after carrying out phase compensation to the first signal Signal；And secondary signal is sent to controller；The monitor rate signal of acquisition is fed back to controller by monitoring platform；Controller is based on miss the target rate signal, secondary signal and monitor rate signal the first control signal of output, control monitoring Device tracks target；First signal is that frequency in rate signal of missing the target is less than 1Hz component；Monitor rate signal includes the Azimuth, Speed, Altitude signal and rate of pitch signal of monitor.
- 7. method as claimed in claim 6, it is characterised in that adaptive notch filter carries out life after phase compensation to the first signal It is specially into secondary signal：Adaptive notch filter detects the phase of the first signal, and the phase of the first signal is reduced, generation the Binary signal.
- 8. method as claimed in claim 7, it is characterised in that controller is based on miss the target rate signal, secondary signal and monitoring Device rate signal exports the first control signal：Controller is based on miss the target rate signal, secondary signal generation reference signal, and is believed according to reference signal and monitor speed Number output the first control signal.
- 9. the method as described in claim 6-8 is any, it is characterised in thatTarget information of the signal processor based on reception generates the position signalling that misses the target；The monitor position signal of acquisition is fed back to controller by monitoring platform；Controller is based on miss the target position signalling and the control signal of monitor position signal output second, control monitor tracking mesh Mark；Monitor position signal includes the orientation angles signal and luffing angle signal of monitor.
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| CN201510831409.2A CN105373146B (en) | 2015-11-25 | 2015-11-25 | A kind of photoelectric tracking delay compensation system and method based on adaptive notch filter |
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|---|---|---|---|---|
| US3654479A (en) * | 1969-09-25 | 1972-04-04 | Comp Generale Electricite | Monitoring apparatus |
| CN102999048A (en) * | 2011-09-08 | 2013-03-27 | 中国航天科工集团第二研究院二０七所 | Servo control method for vehicular moving-base photoelectric-search tracking turntable |
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2015
- 2015-11-25 CN CN201510831409.2A patent/CN105373146B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3654479A (en) * | 1969-09-25 | 1972-04-04 | Comp Generale Electricite | Monitoring apparatus |
| CN102999048A (en) * | 2011-09-08 | 2013-03-27 | 中国航天科工集团第二研究院二０七所 | Servo control method for vehicular moving-base photoelectric-search tracking turntable |
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| 一种改进的基于自适应陷波器的频率检测方法;万耿华 等;《电源技术》;20131031;第37卷(第10期);全文 * |
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