Research On Distributed Cooperative Control Of Photoelectric Tracking System

The photoelectric stabilization platform is the key equipment to track the dynamic target and capture the carrier.In order to improve the tracking speed and accuracy of the photoelectric tracking system,the two axis and two frame system is taken as the research object.From the point of view of distributed cooperative control,the problem is divided into the consistency tracking problem in topologies and the servo structure control problem in nodes.The photoelectric tracking system is studied from three aspects:cooperative tracking controller,disturbance compensation and servo system controller.The main researches are as follows:The two axis and two frame photoelectric tracking system with a fast mirror is a nonlinear,strongly coupled system including multi-source disturbance.In this paper,the structure model and dynamic model of the photoelectric tracking systems are studied,and various disturbance sources that affect the tracking stability are analyzed.Firstly,based on the mathematical graph theory,the topologies are modeled;secondly,the multi-agent system models are established based on the idea of cooperative control;finally,node servo system is modeled.In the actual cooperative control system,the dynamic performance and stability accuracy of the system are adversely affected by uncertain interference such as communication and internal power system of nodes,At the same time,speed information is difficult to be measured accurately.Based on the leader following idea,this paper studies the unmeasured speed and interference of the second-order multi-agent systems.Firstly,a finite-time super-twisting state observer is proposed to obtain the information of the systems accurately.Secondly,based on the integral sliding mode,a finite-time super-twisting disturbance observer is designed to estimate and compensate the disturbance quickly,which effectively improves the anti-disturbance performance of the system.In the leader-following second-order multi-agent systems,a finite-time tracking differentiator is proposed to obtain the leader's control input information quickly and accurately(the follower who has topological connection with the leader).Secondly,a new dual power reaching law consistency tracking controller based on integral sliding mode and finite time theory is designed to improve the tracking speed and accuracy of the photoelectric tracking system.The controller converges to the origin quickly and achieves effective tracking in the finite-time.n this paper,a backstepping control algorithm based on generalized acceleration is designed for the single servo system in the node layer which is affected by the disturbance.A finite time super spiral sliding mode disturbance observer is proposed to effectively retrain the disturbance.Secondly,a finite time backstepping controller based on generalized acceleration is designed to effectively control the servo structure.The control strategy significantly improves the cooperative tracking performance,enhances the robustness of the system,and weakens the chattering phenomenon in the sliding mode.Finally,the protocol designed in this paper is simulated and verified,and the experimental results show the effectiveness of the control strategy.The methods have practical value and provide theoretical basis for other high-precision cooperative control systems.