Research On Control Method Of Angle Measurement Photoelectric Tracking Platform

This paper takes the measurement of spatial dynamic angle as the research background,focuses on the control method of photoelectric tracking platform for dynamic angle measurement,and analyzes the control method of photoelectric tracking platform domestic and foreign.Aiming at the problem of tracking loop output delay in tracking control of optoelectronic tracking platform,a tracking position loop control method based on output delay observer is proposed.A two-speed loop visual axis stability control method based on Kalman filter is introduced for the single-speed loop control stability problem in the stability control of photoelectric tracking platform.The simulation and experimental verification of the control and tracking methods have been carried out,and some research results have been obtained.It has important theoretical and practical significance for the development of photoelectric tracking technology and spatial dynamic angle measurement technology.Firstly,the research status of photoelectric tracking platform control technology and dynamic angle measurement technology domestic and foreign is analyzed.The performance indicators of the angle measurement optoelectronic tracking platform are analyzed.Secondly,in the process of photoelectric tracking platform control,the traditional PID control is susceptible to external interference and inner loop bandwidth,resulting in a decrease in the overall control accuracy of the optoelectronic platform.A flexible variable structure control method for positional ring saturation is introduced.A flexible variable structure controller with position loop variable state is designed to improve the anti-disturbance capability and regulation rate of the position loop.Aiming at the problem that the tracking delay of the TV tracker leads to the instability of the tracking loop,a variable-saturation flexible variable structure tracking loop controller based on the delay observer is proposed to reduce the influence of the output delay on the system.Then,for the single-speed loop control,the anti-interference performance is poor,and the rate gyro is used as the stability loop control of the speed measuring component,and the overall two-speed loop visual axis stability control of the speed inner loop stable outer loop is formed.The simulation analysis shows that the anti-interference ability of the dual speed loop is better than that of the single speed loop.In the process of using gyro velocity measurement,there will be process noise and measurement noise.For this reason,a two-speed loop visual axis stability control method based on Kalman filter is introduced.Finally,a dynamic angle measurement method based on photoelectric tracking platform is proposed.The angle measurement and ranging function of photoelectric tracking platform are used to realize dynamic angle measurement.The principle of dynamic angle measurement is introduced.The control experiment and angle measurement experiment platform of photoelectric tracking platform are carried out.The feasibility of control method and angle measurement method is verified by experiments.