Research On Friction Compensation Control And Improved Kernelized Correlation Filters Tracking Algorithm Of Opto-electronic Tracking System

With the rapid development of opto-electronic technology,opto-electronic tracking system has been widely used in military and civil fields.In order to achieve high performance tracking of target by the opto-electronic tracking system,high performance servo control technology and real-time and stable tracking performance of the target are the key problems to be solved.To solve the above problem,the high performance servo control and real-time and stable tracking technology of the target are deeply studied by using the strategy of combining theory with experiment.Firstly,the working principle of the system and the principle of television tracking are introduced.The mechanism of the servo turntable system is analyzed,and the linear mechanism model of the servo turntable system is established.On the basis of depth analysis of the nonlinear mechanism,the system nonlinear equation based on LuGre model is established.In addition,the main factors affecting the tracking accuracy of the system and the requirements of the tracking performance of the system are described.Secondly,the control strategy based on friction compensation for servo turntable system is studied.According to the established system nonlinear equation,the static parameters of LuGre model are identified by genetic algorithm,and the dynamic parameters of LuGre model are identified by nonlinear least squares method.An adaptive integral backstepping sliding mode control friction compensation method is proposed for the problem of parameter variation in the nonlinear friction model and other disturbances of servo turntable control system,and the asymptotic stability of the closed-loop system is guaranteed.The simulation results show the effectiveness and stability of the strategy.On this basis,a robust adaptive integral backstepping control friction compensation strategy is proposed to solve the problem that chattering inevitably occurs in sliding mode control and reduces the control performance of the system.The asymptotic stability of the strategy is proved by Lyapunov theory.The simulation results show that the proposed strategy has better robustness than the former and can effectively improve the control accuracy of the system.Thirdly,an improved kernelized correlation filter(IKCF)algorithm is proposed to meet the real-time and stability requirements in target tracking process.This method combines adaptive search window threshold method,KCF method and Kalman filter method.The adaptive search window threshold algorithm can choose the threshold adaptively in accordance with the size of the target in the image to improve the tracking performance of the KCF algorithm.In the process of target tracking,when the position change between the previous frame and the current frame is greater than the distance threshold,Kalman filtering method is used to predict and track the target position,which improves the tracking performance of the target tracking algorithm.By comparing this method with KCF method and some advanced tracking methods,the effectiveness and tracking performance of the proposed method are verified.Finally,according to the software and hardware conditions of the opto-electronic tracking system,a target tracking strategy which is suitable for the processing performance of the industrial personal computer in this system is proposed by analyzing the target tracking method mentioned above.Combining the control strategy based on friction compensation and target tracking strategy,the system target tracking strategy is formed,and the actual friction compensation control experiment and target step tracking experiment are carried out.The experimental results verify the effectiveness and stability of the strategy.