CN106444386B - A kind of optoelectronic device tracking miss distance time lag compensation control method - Google Patents
A kind of optoelectronic device tracking miss distance time lag compensation control method Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
A kind of optoelectronic device tracking miss distance time lag compensation control method, the following steps are included: obtaining the target surface pixel coordinate or deviation between the photodetector target and optoelectronic device sensor boresight of optoelectronic device detector output, steepest is carried out by miss distance signal of the function to acquisition smoothly to plan, lag compensation is carried out to smooth rear miss distance signal time, error term in the miss distance signal compensated obtained time lag carries out nonlinearity erron processing, processed signal is finally sent to power drive device to control optoelectronic device sensor boresight tracking target.The invention has the advantages that: the tracking bandwidths that the present invention improves optoelectronic device control loop, and then improve optoelectronic device to the response performance and tracking accuracy of dynamic object.
Description
Technical field
The invention belongs to optoelectronic device image trace control technology fields, and in particular to a kind of optoelectronic device tracking miss distance
Time lag compensation control method.
Background technique
Optoelectronic device can be applied to urban safety monitoring, police inspection, frontier defense control system, forest farm are fell trees unlawfully, and monitoring, fire behavior are pre-
The occasions such as alert are mountable to fixed pedestal building or are equipped on aircraft.In civilian optoelectronic device tracking loop, photoelectric sensing
Device and tracker are considered as " the angular error goniometer " of control system, and the time lag for being somebody's turn to do " goniometer " is generally more than
100ms, the miss distance update cycle externally exported are generally 50ms, are somebody's turn to do " goniometer " bandwidth in current optoelectronic device product
About 5Hz, well below fabric bandwidths and control device bandwidth." goniometer " bandwidth is somebody's turn to do in optoelectronic device tracking loop, performance
For the delay that have passed through a period of time, the information measured is just notified into optoelectronic device, i.e. miss distance time lag, bring is control
The obvious lag of effect, it is slower to the response that dynamic object or disturbance are remaining, dynamic object cannot be carried out very well with amiable disturbance
Inhibit.Tracking loop design determines the tracking response speed and tracking accuracy of optoelectronic device, directly affects tracking observation effect.
To realize precision strike of the optoelectronic device to moving-target, optics, which is surely taken aim at mode and become, preferably to be selected, and restricts light
It is total to be primarily limited to photoelectronic imaging, image procossing, tracking processing and data exchange at present for the bottleneck of electric equipment dynamically track precision
The delay of the miss distance with caused by and miss distance information enter tracking loop, traditional control method bring in the form of step
It is the obvious lag of control effect, it is slower to the response that dynamic object or disturbance are remaining, dynamic object cannot be carried out very well and followed
And Disturbance Rejection.For the above problem existing for conventional method, propose that a kind of controller is being realized to tracking miss distance time lag benefit
It repays simultaneously, provides smooth miss distance signal for control system rate stabilization circuit, when reducing the tracking of practical optoelectronic device, due to
Optical axis limit cycles oscillations and dynamic process over control caused by the mutation of time lag and miss distance, to improve the dynamic of tracking loop
Tracking accuracy.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of optoelectronic devices to track miss distance time lag compensation control method,
To improve the tracking bandwidth of optoelectronic device control loop, and then optoelectronic device is improved to the response performance of dynamic object and tracking essence
Degree.
Used technical solution is the present invention to solve above-mentioned technical problem: a kind of optoelectronic device tracking miss distance time lag
Compensating control method, comprising the following steps:
Step 1: obtaining between the photodetector target and optoelectronic device sensor boresight of optoelectronic device detector output
Target surface pixel coordinate or deviation, i.e. miss distance signalu(k),kIndicate the moment；
Step 2: passing throughfThe miss distance signal that function obtains step 1u(k) carry out steepest smoothly plan, i.e., willu(k)
It is found out in input type (1), (2)kMoment smoothed out miss distance signalWithkMoment smoothed out miss distance signal
Change rate；
(1)
(2)
Wherein,ForkMoment smoothed out miss distance signal,ForkMoment smoothed out miss distance signalChange rate,rFor acceleration factor,hFor filtering factor,TFor integration step, other parameters are intermediate variable；
Step 3: to smooth rear miss distance signalTime carries out lag compensation, method particularly includes: according to step
Two obtained smooth miss distance signalsWith the change rate of the signalIt is calculated by formula (3)It is pre- before time
Survey miss distanceTo make up the lag time of miss distance；
(3)
Step 4: the error in the miss distance signal compensated the time lag that step 3 obtains by formula (4) and (5)
Item carries out nonlinearity erron processing:
(4)
(5)
Wherein,Indicate error signal,For the siding-to-siding block length of linearity range,,U c For nonlinearity erron processing
Control amount afterwards,K if For integral gain,K pf For proportional gain,K df For the differential gain, other parameters are intermediate variable；
Step 5: step 4 is obtainedU c Signal is sent to power drive device to control optoelectronic device sensor boresight
Track target.
Optoelectronic device detector of the present invention include television camera, point and coupled apparatus, image processing module and
Image trace module.
What is obtained in step 1 of the present invention is that the photodetector target that optoelectronic device detector exports is set with photoelectricity
Target surface pixel coordinate or deviation between standby sensor boresight horizontal direction or vertical direction.
The beneficial effects of the present invention are: traditional optoelectronic device tracking loop is linear PI controller, using of the invention
Tracking loop miss distance time lag compensation control method can be such that tracking loop dynamic responding speed is substantially improved, and realize and zero surpass
It adjusts；In terms of promoting the rejection ability that tracking loop disturbs remnants, tracking loop miss distance time lag under the conditions of identical dynamic target
Compensating non-linear control method is more excellent with respect to traditional control method tracking accuracy；The present invention can be obtained using nonlinearity erron feedback
Obtain steady-state error more smaller than linear feedback and faster disturbance response；Using the continuous power near origin with linearity range
Function forms the appearance that nonlinearity erron feedback avoids the high frequency chatter phenomenon as caused by sign function.
Detailed description of the invention
Fig. 1 is control method of the present invention and 0.8 ° of step response simulation comparison figure of traditional control method tracking loop；
Fig. 2 is present invention capture and tracking process schematic.
Specific embodiment
As shown, a kind of optoelectronic device tracks miss distance time lag compensation control method, comprising the following steps:
Step 1: obtaining between the photodetector target and optoelectronic device sensor boresight of optoelectronic device detector output
Target surface pixel coordinate or deviation, i.e. miss distance signalu(k),kIndicate the moment；
Step 2: passing throughfThe miss distance signal that function obtains step 1u(k) carry out steepest smoothly plan, i.e., willu(k)
It is found out in input type (1), (2)kMoment smoothed out miss distance signalWithkMoment smoothed out miss distance signal
Change rate；
(1)
(2)
Wherein,ForkMoment smoothed out miss distance signal,ForkMoment smoothed out miss distance signalChange rate,rFor acceleration factor,hFor filtering factor,TFor integration step, other parameters are intermediate variable；
Step 3: to smooth rear miss distance signalTime carries out lag compensation, method particularly includes: according to step
Two obtained smooth miss distance signalsWith the change rate of the signalIt is calculated by formula (3)It is pre- before time
Survey miss distanceTo make up the lag time of miss distance；
(3)
Step 4: the error in the miss distance signal compensated the time lag that step 3 obtains by formula (4) and (5)
Item carries out nonlinearity erron processing:
(4)
(5)
Wherein,Indicate error signal,For the siding-to-siding block length of linearity range,,U c For nonlinearity erron processing
Control amount afterwards,K if For integral gain,K pf For proportional gain,K df For the differential gain, other parameters are intermediate variable；
Step 5: step 4 is obtainedU c Signal is sent to power drive device to control optoelectronic device sensor boresight
Track target.
Further, the optoelectronic device detector include television camera, point and coupled apparatus, image processing module and
Image trace module.
Further, what is obtained in the step 1 is that the photodetector target that optoelectronic device detector exports is set with photoelectricity
Target surface pixel coordinate or deviation between standby sensor boresight horizontal direction or vertical direction.
Embodiment
Certain model optoelectronic device emulation testing condition is as follows:
Visible light sensor is in minimum 2.7 ° × 1.7 ° of visual field, first tracks arbitrarily selected target 1, tracks in stabilized platform
The miss distance of horizontal direction is 0.8 ° between selected target 2 and target 1 under search condition or the miss distance of vertical direction is 0.8 °, right
The process that target 2 is tracked, is as added the process of 0.8 ° of step response suddenly, and the performance of the step response is acquisition and tracking
The dynamic property in stage.
It completes optoelectronic device and tests environmental structure, write according to above-mentioned five step controllers, parameter testing.In traditional PI
Under control method and miss distance time lag compensation nonlinear control method, respectively to the miss distance information of optoelectronic device tracking loop into
Row record, table 1 are classics PI algorithm and the method for the present invention time domain index contrast table, and table 2 is classics PI algorithm and the method for the present invention
Track miss distance amplitude contrast table.
1 classics PI algorithm of table and the present invention put the comparison of method time domain index
The settling time of miss distance time lag compensation gamma controller falls to 40%, Er Qiexiang of PI control method
Than the overshoot of PI control method 40%, miss distance time lag compensation nonlinear control method realizes zero overshoot substantially, simultaneously because
Increase using nonlinear Control bring gain, stable state accuracy numerical value improves 30%.
It is moved using rotary target target equivalent sine, simulates the motion process of target to be tracked: on stable distance platform
Rotation target is placed at visible light sensor 12m, it is seen that optical sensor is under minimum 2.7 ° × 1.7 ° of visual field, and stabilized platform is pre-
First tracking rotary target, target is with 10 °/s, 20 °/s, 30 °/s, 40 °/s, 50 °/s, 60 °/s, 70 °/s continuous rotation, record two
The numerical quantity that misses the target under kind controller difference target revolving speed.
2 classics PI algorithm of table and the method for the present invention track miss distance amplitude contrast table
As can be seen from Table 2, with the increase of target angular speed and angular acceleration, the tracking accuracy decline of PI control algolithm compared with
Fastly；In 0~20 °/s of target, dynamically track precision (amplitude) is better than miss distance time lag compensation nonlinear control method
0.17mrad；Under target 30 °/s rotating condition, PI control algolithm dynamically track precision (amplitude) is 3.5mrad；And target
Under 65 °/s rotating condition, PI control algolithm tracking error is larger, is very easy to tracking Loss occur；Miss distance time lag is mended
Even if repaying nonlinear control method under the conditions of 85 °/s rotates target, dynamically track precision (amplitude) is within the scope of 3.32mrad.
Claims (3)
1. a kind of optoelectronic device tracks miss distance time lag compensation control method, it is characterised in that: the following steps are included:
Step 1: obtaining the target between the photodetector target and optoelectronic device sensor boresight of optoelectronic device detector output
Face pixel coordinate or deviation, i.e. miss distance signal u (k), k indicate the moment；
It smoothly plans, i.e., inputs u (k) Step 2: carrying out steepest to the miss distance signal u (k) that step 1 obtains by f function
K moment smoothed out miss distance signal x is found out in formula (1), (2)1(k) and k moment smoothed out miss distance signal x1(k) change
Rate x2(k)；
Wherein, x1It (k) is k moment smoothed out miss distance signal, x2It (k) is k moment smoothed out miss distance signal x1(k)
Change rate, r are acceleration factor, and h is filtering factor, and T is integration step, and other parameters are intermediate variable；
Step 3: to smooth rear miss distance signal x1(k+1) time carries out lag compensation, method particularly includes: it is obtained according to step 2
Smooth miss distance signal x1(k+1) and the change rate x of the signal2(k+1) the prediction miss distance before the τ time is calculated by formula (3)
e0(k+1) to make up lag time of miss distance；
e0(k+1)=x1(k+1)+τx2(k+1) (3)
Step 4: error term in the miss distance signal compensated the time lag that step 3 obtains by formula (4) and (5) into
The processing of row nonlinearity erron:
Uc=Kif·∫fal(e0(k),α,δ)·dt+Kpf·fal(e0(k),α,δ)+Kdf·e0(k) (4)
Wherein, e0(k) error signal is indicated, δ is the siding-to-siding block length of linearity range, α ∈ (0,1), UcFor nonlinearity erron, treated
Control amount, KifFor integral gain, KpfFor proportional gain, KdfFor the differential gain, other parameters are intermediate variable；
Step 5: the U that step 4 is obtainedcSignal is sent to power drive device to control the tracking of optoelectronic device sensor boresight
Target.
2. a kind of optoelectronic device according to claim 1 tracks miss distance time lag compensation control method, it is characterised in that: institute
The optoelectronic device detector stated includes television camera, charge-coupled device, image processing module and image trace module.
3. a kind of optoelectronic device according to claim 1 tracks miss distance time lag compensation control method, it is characterised in that: institute
State obtained in step 1 be the output of optoelectronic device detector photodetector target and optoelectronic device sensor boresight it is horizontal
Target surface pixel coordinate or deviation between direction or vertical direction.
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| CN108871374B (en) * | 2018-03-26 | 2021-01-15 | 中国科学院西安光学精密机械研究所 | Method for improving miss distance delay measurement precision in photoelectric tracking system |
| CN109831600B (en) * | 2019-02-27 | 2021-06-01 | 中国科学院光电技术研究所 | Method for avoiding image motion in target approaching process of photoelectric tracking system |
| CN109856964B (en) * | 2019-03-08 | 2020-08-21 | 中国科学院长春光学精密机械与物理研究所 | Moving object control method and system based on miss distance processing |
| CN110109343B (en) * | 2019-04-30 | 2021-09-10 | 东南大学 | Visual measurement time-lag compensation method for photoelectric tracking system |
| CN112684817B (en) * | 2020-12-17 | 2023-01-03 | 中国工程物理研究院应用电子学研究所 | Method for improving tracking precision of photoelectric tracking system |
| CN113188372B (en) * | 2021-04-02 | 2022-08-30 | 绵阳慧视光电技术有限责任公司 | Method and device for measuring processing delay time of optical seeker |
| CN113359412B (en) * | 2021-05-26 | 2022-12-13 | 中国电子科技集团公司第三研究所 | Servo tracking method of photoelectric monitoring system |
| CN114241009B (en) * | 2021-12-24 | 2023-06-02 | 普宙科技有限公司 | Target tracking method, target tracking system, storage medium and electronic equipment |
| CN116147689B (en) * | 2023-04-14 | 2023-07-14 | 四川中科友成科技有限公司 | Off-target delay test method and device for outfield tracker |
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