Research And Design Of Aiming Control System Of Laser Weapon For Low Slow Small Target

The laser weapon is an anti-aerial target military equipment,especially to shoot potentially dangerous low slow small targets in the air nowadays.Based on this background,this dissertation studies the relatively low-precision tracking and aiming subsystem of typical laser weapon and its control system synthesis in order to help the weapon lock the chosen target into its sight.This paper mainly researches into the relatively low-precision tracking frame,which is a typical two-axis turntable in engineering,synthesis of its control system and prove its feasibility by simulation in a computer.First,according to the structure of the two-axis tracking frame and the technical requirements of the relative low-precision tracking system,the overall design scheme of the aiming system is established,and the selection is made on the basis of the direct current torque motor to drive system and angle measurement system based on optical grating.Then,the mathematical model of the turntable system for further controller synthesis and simulation is established based on the motor's mechanical and electrical properties.Secondly,based on the mathematical model of the system,the design of turntable control system is carried out.In order to meet the working requirements of the tracking system in different modes,the controller design adopts the controller design with large deviation angle and small deviation angle.The large deviation controller is used to achieve fast rotation of the tracking system in response to external instructions from like control center.The small deviation controller is used for stable tracking and aiming target using the information from the camera,which can get the relatively angle position selected aerial target.Through simulation,the switch controlling strategy of the two controllers signal is verified under the user-defined step.Then,the relative angle position between the target and aiming axis is fed back through the camera in the system tracking state,that is,the missing angle.Due to its relatively long delay compared with designed controlling period,the tracking accuracy of the frame will be harmed and even the stability of the system will be affected.In this case,a tracking method based on Kalman prediction is introduced to reduce the influence of camera delay on the system tracking accuracy.A Kalman predictor is built on specific target motion model to estimate the angle position of the target.By simulation results the advantage of Kalman predictor is proved.Finally,the hardware and software systems of the aiming control system are introduced.The digital controller is based on Advantech's PCM-3362 embedded computer.D/A circuit is used to convert the digital control quantity into an analog quantity to driver the motor under the support of motor driver module.By studying the data format of circular grating angle measurement system,a logic circuit is introduced.The protection designing of the tracking system is introduced.The control system communicate with camera,external command center and debugging computer by industrial RS-422 serial communication interface.The program of the aiming control system is compiled under Borland environment based on DOS operating system,which runs on PCM-3362 embedded computer.