CN109884882A - A kind of photoelectric follow-up control method based on differential tracker - Google Patents
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Abstract
The photoelectric follow-up control method based on differential tracker that the invention discloses a kind of, belong to electro-optical system tracing control field, for currently using only in the case of position feed back signal, in conventional PID controllers differentiation element by noise amplify etc. negative factors, it is unable to satisfy the tracing control demand of higher precision, differential tracker and PID controller are effectively combined by this method, reasonable arrangement transient process, it realizes for the quick of input signal, it tracks to non-overshoot and is exported with synchronous differential, noise amplification effect can be effectively reduced, reduce steady-state error, simplified control device designs and improves Control platform, the tracking performance of further lifting motion platform electro-optical tracking device.
Description
Technical field
The invention belongs to electro-optical system tracing control fields, and in particular to a kind of photoelectric tracking system based on differential tracker
System control method, differential tracker and PID controller are effectively combined, and are sufficiently improved the utilizability of system, are further mentioned
The tracking performance of elevator moving platform electro-optical tracking device.
Background technique
In photoelectric follow-up, when target enters in TV or infrared visual field, deviation of the target relative to field of view center
Angle is tracing deviation amount, and closed loop is completed using departure as error can realize the tracing control to target.In many situations
Under, simple feedback position signal control is unable to satisfy the dynamic requirements of photoelectric follow-up, is suitably introduced into the micro- of command signal
Sub-signal controls tracking platform, can in the case where not influencing system stability, improve system without margin, to reduce
The hysteresis error of system effectively improves system to the response speed of input, reduces overshoot, mention high control precision.
But in systems in practice, command signal is direction angle of the target relative to tracking system coordinate, is directly to survey
, the deviation signal usually measured by ccd sensor is acquired with revolving table position sensor signal operation, the instruction letter acquired
Include random noise in number, directly it differentiate and seek speed and can obviously amplify noise, so as to cause tracking system
Shake.In control engineering field, classical PID is controlled as most widely used control law, is needed by discontinuously or with making an uproar at random
The measurement signal of sound reasonably extracts continuous signal and differential signal, generally uses difference or lead network approximate differential signal,
This method can introduce noise into control system, so except special circumstances, actually most of is all PI controller, for
This problem Chinese scholar Han Jing applies clearly the theory of optimal control, proposes a kind of differential tracker (Tracking
Differentiator, TD) concept, a kind of effective method is provided to extract differential signal in engineering.Text " Han Jing
Clearly, Wang Wei Nonlinear Tracking Differentiator [J] systematic science and mathematics, 1994,14 (2): 177-183 " in Nonlinear Tracking
The correlation theory of differentiator has carried out stringent proof, has obtained very practical, the simple conclusion of constraint condition.Therefore, be badly in need of into
The advantages of how consideration of one step can make full use of PID control overcomes differentiation element in conventional PID controllers that noise amplification etc. disappears
Pole factor sufficiently improves the utilizability of photoelectric follow-up, the tracing property of further lifting motion platform electro-optical tracking device
Energy.
Summary of the invention
Conventional PID controllers are used in photoelectric follow-up, control principle is to eliminate error based on error, merely with
The error signal that ccd sensor obtains is not easy to meet by the past of this error, present and variation tendency weighted sum control strategy
High performance control demand has side effects, this method combination differential trackers such as noise amplification for differentiation element in controller
The extraction original signal (tracking) and differential signal of effect, had both solved the problems, such as in engineering all the time, can also overcome tradition
The negative factors such as noise amplification are embodied stronger noise resisting ability by differentiation element under noise disturbance in PID controller, with
Improve Control platform and the design of simplified control device.Dynamic structure, tracking performance and differential quality to Nonlinear Tracking Differentiator etc. into
After one step research, by differential output and the steepest comprehensive function of differential tracker, the mistake of closed-loop system can be arranged to tide over
Journey realizes the quick tracking for referring to signal, to solve the contradiction between overshoot and rapidity under the premise of basic non-overshoot.Its
Feature is specific as follows: (1) the selection model of error feedback oscillator and error derivative feedback gain can be made by prearranging transient process
Expansion is enclosed, so that its adjusting be made to be easier；(2) prearranging transient process can make given feedback oscillator institute adaptable right
As parameter area expansion, i.e. the robustness of controller is more preferable.At the same time, super caused by given be widely varied in order to reduce
It adjusts, mechanism wear and unnecessary energy loss reduce initial error, need basis for the command signal of rapid jumping
It controls target and object ability to bear arranges suitable transient process, and to provide transient process differential signal simultaneously, this
Process can be a dynamic process, be also possible to a function generator.By by " Nonlinear Tracking Differentiator " and " arranging to tide over
Journey ", which merges, to be realized, realizes and the quick of input signal, non-overshoot tracking are exported with synchronous differential, can be effectively reduced and make an uproar
Sound amplification effect, reduces steady-state error, and simplified control device structure improves Control platform.
To achieve the purpose of the present invention, the present invention provides a kind of electro-optical system tracing control side based on differential tracker
Method, specific implementation step are as follows:
Step (1): CCD position sensor is installed in photoelectric tracking experiment porch, for measuring photoelectric follow-up
Angle Position amount.
Step (2): by frequency response tester can the position frequency object characteristic to platform test, input for control
Device output valve processed exports as ccd sensor sampled value, to can get the open ring position object model of degree of precision, by right
Measured object is recognized, final to obtain object model G (s).
Step (3): on the basis of plant model G (s), design PID controller C (s) is used as positioner, utilizes
CCD image sensor realizes traditional location closed loop.
Step (4): by designing Nonlinear Tracking Differentiator (TD), come reasonable drawing original signal and differential signal, make an uproar to containing
The signal processing of sound obtains relatively smooth original signal and exports with synchronous differential；Reasonable arrangement transient process simultaneously obtains fast
The signal of speed and non-overshoot is sent into next link.
Step (5): both is effectively combined by an additional PID controller after Nonlinear Tracking Differentiator, thus
It more efficiently realizes and the Closed loop track of photoelectric follow-up is controlled.
Wherein, in step (3), PID controller C (s) will be sent directly into noisy input signal and it is allowed directly to handle
Signal, controller reference model are as follows:
Wherein, kpIt is proportional gain, kiIt is integral gain, kdIt is the differential gain.
Wherein, Nonlinear Tracking Differentiator (TD) structure in step (4) is as follows: inputting a signal v (t) to it, it will export 2
A signal v1And v2, wherein v1It tracks original signal v (t), andTo v2" approximate differential " as signal v (t).
The realization of differential function is that the tracking mode input signal of " as fast as possible " is leaned on to realize.In order to which " quickly " tracks input signal
V (t), this can inherently be converted into a control problem, quivering using the theory of optimal control, and when system being avoided to enter stable state
Phenomenon of shaking derives steepest comprehensive function fhan (x using the demand of numerical value calculating1,x2, r, h), expression is as follows:
The discrete steepest feedback system established using this function are as follows:
Above-mentioned steepest feedback system is called " Nonlinear Tracking Differentiator " of input signal v (t)
(TrackingDifferentiator, TD).Wherein, v is input signal, x1It is exported for the tracking of signal, x2For the differential of signal
Output, h is tracing step, h0For filtering factor, r is Turbo Factor.R is bigger, x1Signal v can be quickly tracked, but when v is made an uproar
When sound pollution, signal x can be made1By bigger noise pollution.In order to filter x1Contained noise chooses h appropriate0It can obtain very
Good filter effect, usual h0=nh.However, h is bigger, signal x will be made1The phase loss for tracking signal v is bigger.
The invention has the following advantages over the prior art:
(1) relatively traditional PID closed loop control method, the invention have been effectively combined Nonlinear Tracking Differentiator, realize for
The quick of input signal, non-overshoot tracking are exported with synchronous differential, and noise amplification effect can be effectively reduced, and are reduced stable state and are missed
Difference.
(2) when tracking step or square-wave signal, for the command signal of rapid jumping, Nonlinear Tracking Differentiator can design one
Suitable transient process makes compromise between " accelerating tracking effect " and " generating larger overshoot " compared in Traditional control,
The invention can preferably solve the contradiction between overshoot and rapidity simultaneously.
(3) the invention clear thinking, structure is simple, is more easily implemented in engineering, and sufficiently improves the available of system
Property, improve Control platform and the design of simplified control device, the tracking performance of further lifting motion platform electro-optical tracking device.
(4) invention is to optimize from control algolithm to system, no longer needs to separately add sensor, ensure that system is original
Characteristic, and saved cost.
Detailed description of the invention
Fig. 1 is traditional PID control block diagram；
Fig. 2 is control block diagram of the invention；
Fig. 3 is differential tracker tracking signal output comparison diagram of the invention；
Fig. 4 is differential tracker differential signal output comparison diagram of the invention；
Fig. 5 is closed-loop control effect contrast figure of the invention.
Specific embodiment
For attached drawing and photoelectric tracking experiment porch, to a specific embodiment of the invention, process and effect
It elaborates:
It is conventional PID controllers structural block diagram as shown in Figure 1, control principle is to use error based on error concealment error
Past, now and the weighted sum of variation tendency controls controlled system closed-loop stabilization, but it is not easy to meet high performance control need
It asks, when handling by discontinuous or measuring signal with random noise to extract continuous signal and its differential signal, by
It can not realize, approximate can only realize, but when input signal is by noise pollution in differentiator physics, the approximate differential letter in output
Number noise being just amplified is flooded, and can not be utilized；Meanwhile caused overshoot, mechanism mill is widely varied in order to reduce to give
Damage and unnecessary energy loss need to arrange suitable transient process according to control target and object ability to bear, in base
The quick tracking of instruction is realized under the premise of this non-overshoot, solves the contradiction between overshoot and rapidity.Based on above narration,
The advantages of retaining PID, overcome its disadvantage, we develop the link with specific function in conjunction with nonlinear effect, i.e., differential with
Track device realizes and the quick of input signal, non-overshoot tracking is exported with synchronous differential, noise amplification effect can be effectively reduced
Fruit reduces tracking error, improves Control platform and the design of simplified control device, control block diagram of the invention are as shown in Figure 2.
Realize that the specific implementation step of feed forward control method is as follows using described device:
Step (1): in photoelectric follow-up tracking control system install CCD position sensor, for measure photoelectricity with
The Angle Position amount of track system.
Step (2): by frequency response tester can the position frequency object characteristic to platform test, input for control
Device output valve processed exports as ccd sensor sampled value, to can get the open ring position object model of degree of precision, by right
Measured object is recognized, and final acquisition object model is as follows:
Step (3): as shown in Fig. 1 structural block diagram, on the basis of getting plant model G (s), PID control is designed
Device C (s) is used as positioner, and the input signal with noise and platform random perturbation is sent directly into PID controller C (s)
It allows it directly to handle signal, realizes traditional location closed loop using CCD image sensor.Controller design is as follows:
Wherein, kpIt is proportional gain, kiIt is integral gain, kdIt is the differential gain.
Step (4): by designing Nonlinear Tracking Differentiator (TD), come reasonable drawing original signal and differential signal, make an uproar to containing
The signal processing of sound obtains relatively smooth original signal tracking and exports with synchronous differential；Reasonable arrangement transient process simultaneously, obtains
Next link is sent into quick and non-overshoot signal.Flutter using the theory of optimal control, and when system being avoided to enter stable state
Phenomenon, the demand calculated using numerical value, derives steepest comprehensive function fhan (x1,x2, r, h), expression is as follows:
The discrete steepest feedback system established using this function are as follows:
Above-mentioned steepest feedback system is called " Nonlinear Tracking Differentiator " of input signal v (t)
(TrackingDifferentiator, TD).
Wherein, v is input signal, v1It is exported for the tracking of signal, v2It is exported for the differential of signal, tracing step h=
0.001, filtering factor h0=50h, Turbo Factor r=100.
As shown in figure 3, the noisy sinusoidal signal of input tape, available relatively smooth original signal tracks output.
Upper figure is the comparison with noisy sinusoidal input signal and ideal input signal, the following figure be by the tracking of Nonlinear Tracking Differentiator just
The comparison of string signal and ideal sinusoidal signal, discovery effectively reduce the influence of noise, tracking letter using Nonlinear Tracking Differentiator
It is number relatively smooth and close with original signal, while also illustrating that the filter action of differential tracker has very to original signal is extracted
Good effect.
As shown in figure 4, Nonlinear Tracking Differentiator can reasonably export differential signal, upper figure direct differentiation occurs noise amplification etc.
Negative factor embodies stronger noise resisting ability under noise disturbance, this signal is being input to next link PID control in this way
In device processed, controller performance can be greatly promoted.
Tracking step or when square-wave signal, due to controlled device output when Dynamic mode output, have certain used
Property, variation can not jump, it means that when initial error is very big, in order to accelerate tracking effect, be bound to increase
Gain is controlled, thus necessarily leads to larger overshoot, in order to reduce initial error, needs to design a suitable transient process,
Solve the contradiction between overshoot and rapidity.
Step (5): as shown in Fig. 2 structural block diagram, an additional PID controller after Nonlinear Tracking Differentiator, by both
It is effectively combined, proportional, integral (PI) link is sent into the tracking output of differential tracker, synchronous differential output is sent into
Differential (D) link controls the Closed loop track of photoelectric follow-up to more efficiently realize.
Closed loop result as shown in figure 5, the quick of the input signal obtained by step (4), non-overshoot tracking with it is synchronous micro-
Divide output to be sent into PID controller, noise amplification effect can be effectively reduced, reduce tracking error, improves Control platform and simplification
Controller design, sufficiently improve photoelectric follow-up utilizability, further lifting motion platform electro-optical tracking device with
Track performance.
It elaborates above in conjunction with attached drawing and example to a specific embodiment of the invention, process and effect, but described
Content is only a preferred embodiment of this method, cannot only limit the practical range of this method.
Claims (3)
1. a kind of photoelectric follow-up control method based on differential tracker, it is characterised in that: its specific implementation step is as follows:
Step (1): installing CCD position sensor in photoelectric tracking experiment porch, for measuring the angle position of photoelectric follow-up
The amount of setting；
Step (2): by frequency response tester can the position frequency object characteristic to platform test, input as controller
Output valve exports as ccd sensor sampled value, to can get the open ring position object model of degree of precision, by being surveyed
The object obtained is recognized, final to obtain object model G (s)；
Step (3): on the basis of plant model G (s), design PID controller C (s) is used as positioner, and utilizes figure
As sensor CCD realizes traditional location closed loop；
Step (4): by designing Nonlinear Tracking Differentiator (TD), come reasonable drawing original signal and differential signal, to noise-containing
Signal processing obtains relatively smooth original signal and exports with synchronous differential；Simultaneously reasonable arrangement transient process, obtain quickly and
The signal of non-overshoot is sent into next link；
Step (5): both is effectively combined, thus higher by an additional PID controller after Nonlinear Tracking Differentiator
Effect ground, which is realized, controls the Closed loop track of photoelectric follow-up.
2. a kind of photoelectric follow-up control method based on differential tracker according to claim 1, it is characterised in that:
In step (3), it will be sent directly into PID controller C (s) with noisy input signal, it is allowed directly to handle signal, controller ginseng
It is as follows to examine model:
Wherein, kpIt is proportional gain, kiIt is integral gain, kdIt is the differential gain.
3. a kind of photoelectric follow-up control method based on differential tracker according to claim 1, it is characterised in that:
Nonlinear Tracking Differentiator (TD) structure in step (4) is as follows: inputting a signal v (t) to it, it will export 2 signal v1And v2,
Wherein v1It tracks original signal v (t), andTo v2As " approximate differential " of signal v (t), the reality of differential function
It is now that the tracking mode input signal of " as fast as possible " is leaned on to realize, using the theory of optimal control, and system is avoided to enter stable state
When chatter phenomenon, using numerical value calculate demand, derive steepest comprehensive function fhan (x1,x2, r, h), expression
It is as follows:
The discrete steepest feedback system established using this function are as follows:
Above-mentioned steepest feedback system be called input signal v (t) " Nonlinear Tracking Differentiator " (Tracking Differentiator,
TD), wherein v is input signal, x1It is exported for the tracking of signal, x2It is exported for the differential of signal, h is tracing step, h0For filter
The wave factor, r are Turbo Factor, and r is bigger, x1Signal v can be quickly tracked, but when v is by noise pollution, signal x can be made1By more
Big noise pollution, in order to filter x1Contained noise chooses h appropriate0Good filter effect, usual h can be obtained0=nh,
However, h is bigger, signal x will be made1The phase loss for tracking signal v is bigger.
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Cited By (5)
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| CN110690705A (en) * | 2019-08-28 | 2020-01-14 | 济南大学 | APF current detection and capacitance voltage control method based on tracking differentiator |
| CN111427386A (en) * | 2020-04-16 | 2020-07-17 | 中国科学院光电技术研究所 | Photoelectric equipment rapid turning method combining bang-bang control and overshoot-free prediction control |
| CN111522226A (en) * | 2020-05-20 | 2020-08-11 | 中国科学院光电技术研究所 | Multi-objective optimization high-type PID optimal controller design method for servo turntable |
| CN112051726A (en) * | 2020-07-27 | 2020-12-08 | 北京控制工程研究所 | Position feedforward control method based on linear tracking differentiator |
| CN112859587A (en) * | 2021-01-13 | 2021-05-28 | 中国科学院光电技术研究所 | PID target tracking control method based on additional integrated module |
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| CN112051726B (en) * | 2020-07-27 | 2023-08-11 | 北京控制工程研究所 | Position feedforward control method based on linear tracking differentiator |
| CN112859587A (en) * | 2021-01-13 | 2021-05-28 | 中国科学院光电技术研究所 | PID target tracking control method based on additional integrated module |
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