Research On Control Technology Of Vehicular Photoelectric Tracking And Pointing System

Vehicular electro-optical tracking and countermeasure device can realize the tracking and measuring of targets in the process with the vehicle motion, and has the capability of electro-optical countermeasure on specific targets. With the continuous development of information warfare, increasing quantity of important facilities which need to be protected, and growing needs in the viability and the efficiency of the electro-optical countermeasure device, the application of vehicular electro-optical tracking and countermeasure device has been expanded, and higher demands for key performances havebeen raised. Besides, the tracking turntableand the fast steering mirror are important parts of vehicular electro-optical tracking and countermeasure device. The study of servo system is very important for meeting the requirements above.This paper studys the improvementon the tracking accuracy, dynamic characteristics, stability and the pointing accuracy of vehicular electro-optical tracking and countermeasure device.The design problem ofcompound controllers with strong disturbance rejectionand good dynamic characteristics, the precision control of fast steering mirror, and the compensation for the disturbance on the boresight of turntable are deeply discussed, and some simulations are carried out to verify results of the discussion.Firstly, this paper introduces the mechanical structure, opt-guide light path, tracking turntable and servo control system of the fast mirror.Secondly, for tracking turntable, a double closed loop servo controller based onlead and lag correction method is designed.Fuzzy control theory is introduced for the implement of a position loop correction fuzzy controller,a compound controller which combines the advantages of a lag lead compensator and a fuzzy controller. The performance of the hybrid controller is verified by simulation and experiment.For the next, this paper briefly introduces the applicationand structure of fast steering mirror, uses dual-mode control technology to achieve the control of fast steering mirror. The transfer function of the azimuth axis and pitch axisiscalculated for the servo of fast steering mirror. A mathematical analytic expression is derived to describe the relationship between the attitude angle of the fast mirror and the tracking error of the turntable. The response speed, disturbance rejection and tracking accuracy of the fast mirror servo system are verified by the tracking experiment.Then, the paper analyzes the effection of vehicle motion on turntable, andestablishesthe relative coordinates, derivesturntable axis position disturbance model and velocity perturbation model. The disturbance model on the boresight of turntable is improved by taking installmen error of the inertial navigation device into account. A compound controller based on feedforward of boresightdisturbance velocity is constructed, to compensate the disturbance of boresight and realize the stabilization of boresight on moving carrier.Finally, experiments are performed on vehicular electro-optical tracking and countermeasure device, to validatecompound controll of tracking turntable, fastcontrol of steering mirror and stabilization of boresight.The results show that the research in this paper can improve the tracking precision, dynamic characteristics, stability and pointing accuracy of the vehicular electro-optical tracking and countermeasure device.